TY - GEN
T1 - Adaptive control for parametric output feedback systems with output constraint
AU - Ren, Beibei
AU - Ge, Shuzhi Sam
AU - Tee, Keng Peng
AU - Lee, Tong Heng
N1 - Funding Information:
The authors acknowledge the IRPA research grant provided by the Ministry of Science and Technology and Universiti Sains Malaysia (USM), Penang that has resulted in this article.
PY - 2009
Y1 - 2009
N2 - In this paper, adaptive control is presented for a class of parametric output feedback nonlinear systems with output constraint. Adaptive observer backstepping is adopted to achieve the output tracking. To prevent the output constraint violation, the Barrier Lyapunov Function (BLF) is employed in Lyapunov synthesis. By ensuring the boundedness of the BLF, we also guarantee that the output constraint is not transgressed. Compared with the control using a Quadratic Lyapunov Function (QLF), our control requires less restrictive initial conditions. The stability analysis of the closed-loop system is provided and all closed-loop signals are ensured to be bounded. Simulation results demonstrate the effectiveness of the proposed approach.
AB - In this paper, adaptive control is presented for a class of parametric output feedback nonlinear systems with output constraint. Adaptive observer backstepping is adopted to achieve the output tracking. To prevent the output constraint violation, the Barrier Lyapunov Function (BLF) is employed in Lyapunov synthesis. By ensuring the boundedness of the BLF, we also guarantee that the output constraint is not transgressed. Compared with the control using a Quadratic Lyapunov Function (QLF), our control requires less restrictive initial conditions. The stability analysis of the closed-loop system is provided and all closed-loop signals are ensured to be bounded. Simulation results demonstrate the effectiveness of the proposed approach.
UR - http://www.scopus.com/inward/record.url?scp=77950829887&partnerID=8YFLogxK
U2 - 10.1109/CDC.2009.5400377
DO - 10.1109/CDC.2009.5400377
M3 - Conference contribution
AN - SCOPUS:77950829887
SN - 9781424438716
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 6650
EP - 6655
BT - Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009
Y2 - 15 December 2009 through 18 December 2009
ER -