TY - JOUR
T1 - Adaptive tracking control of uncertain MIMO nonlinear systems with input constraints
AU - Chen, Mou
AU - Ge, Shuzhi Sam
AU - Ren, Beibei
PY - 2011/3/3
Y1 - 2011/3/3
N2 - In this paper, adaptive tracking control is proposed for a class of uncertain multi-input and multi-output nonlinear systems with non-symmetric input constraints. The auxiliary design system is introduced to analyze the effect of input constraints, and its states are used to adaptive tracking control design. The spectral radius of the control coefficient matrix is used to relax the nonsingular assumption of the control coefficient matrix. Subsequently, the constrained adaptive control is presented, where command filters are adopted to implement the emulate of actuator physical constraints on the control law and virtual control laws and avoid the tedious analytic computations of time derivatives of virtual control laws in the backstepping procedure. Under the proposed control techniques, the closed-loop semi-global uniformly ultimate bounded stability is achieved via Lyapunov synthesis. Finally, simulation studies are presented to illustrate the effectiveness of the proposed adaptive tracking control.
AB - In this paper, adaptive tracking control is proposed for a class of uncertain multi-input and multi-output nonlinear systems with non-symmetric input constraints. The auxiliary design system is introduced to analyze the effect of input constraints, and its states are used to adaptive tracking control design. The spectral radius of the control coefficient matrix is used to relax the nonsingular assumption of the control coefficient matrix. Subsequently, the constrained adaptive control is presented, where command filters are adopted to implement the emulate of actuator physical constraints on the control law and virtual control laws and avoid the tedious analytic computations of time derivatives of virtual control laws in the backstepping procedure. Under the proposed control techniques, the closed-loop semi-global uniformly ultimate bounded stability is achieved via Lyapunov synthesis. Finally, simulation studies are presented to illustrate the effectiveness of the proposed adaptive tracking control.
KW - Adaptive tracking control
KW - Backstepping control
KW - Command filter
KW - Input constraint
KW - Nonlinear systems
UR - http://www.scopus.com/inward/record.url?scp=79952484282&partnerID=8YFLogxK
U2 - 10.1016/j.automatica.2011.01.025
DO - 10.1016/j.automatica.2011.01.025
M3 - Article
AN - SCOPUS:79952484282
SN - 0005-1098
VL - 47
SP - 452
EP - 465
JO - Automatica
JF - Automatica
IS - 3
ER -