Control of nonlinear systems with time-varying output constraints

Keng Peng Tee, Shuzhi Sam Ge, Haizhou Li, Beibei Ren

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

29 Scopus citations

Abstract

This paper presents output tracking control for strict feedback nonlinear systems with time-varying output constraint. A Barrier Lyapunov Function (BLF), which depends explicitly on time, is employed at the outset to prevent the output from violating the time-varying constraint. Specifically, we allow the barrier limit to vary with the desired trajectory in time. Through a change of coordinates for the tracking error, we then eliminate the time dependence, therefore simplifying the analysis. We show that asymptotic output tracking is achieved without violation of the time-varying constraint, and that all closed loop signals remain bounded. The performance of the proposed control is illustrated through a simulation example.

Original languageEnglish
Title of host publication2009 IEEE International Conference on Control and Automation, ICCA 2009
Pages524-529
Number of pages6
DOIs
StatePublished - 2009
Event2009 IEEE International Conference on Control and Automation, ICCA 2009 - Christchurch, New Zealand
Duration: Dec 9 2009Dec 11 2009

Publication series

Name2009 IEEE International Conference on Control and Automation, ICCA 2009

Conference

Conference2009 IEEE International Conference on Control and Automation, ICCA 2009
CountryNew Zealand
CityChristchurch
Period12/9/0912/11/09

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