TY - GEN
T1 - Control of nonlinear systems with time-varying output constraints
AU - Tee, Keng Peng
AU - Ge, Shuzhi Sam
AU - Li, Haizhou
AU - Ren, Beibei
PY - 2009
Y1 - 2009
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=77950446287&partnerID=8YFLogxK
U2 - 10.1109/ICCA.2009.5410484
DO - 10.1109/ICCA.2009.5410484
M3 - Conference contribution
AN - SCOPUS:77950446287
SN - 9781424447060
T3 - 2009 IEEE International Conference on Control and Automation, ICCA 2009
SP - 524
EP - 529
BT - 2009 IEEE International Conference on Control and Automation, ICCA 2009
T2 - 2009 IEEE International Conference on Control and Automation, ICCA 2009
Y2 - 9 December 2009 through 11 December 2009
ER -