Adaptive output feedback control for a class of nonlinear systems with full-state constraints

作者：Liu Yan Jun^*; Li Dong Juan; Tong Shaocheng

来源：International Journal of Control, 2014, 87(2): 281-290.

DOI：10.1080/00207179.2013.828854

• adaptive control
• output-feedback control
• barrier Lyapunov function
• nonlinear systems

This paper studies an adaptive output-feedback control for a class of nonlinear single-input and single-output (SISO) systems with the full-state constraints. A state observer is designed to estimate those unmeasured states. At present, all the results in the output-feedback area ignore the effects of the full-state constraints. The presence of these constraints results in a complicated procedure and the major difficulties in the design. The barrier Lyapunov BLF) and a novel design procedure are given to overcome these difficulties. The adaptation law and the controllers are obtained based on the backstepping design procedure. In addition, only one adjustable parameter needs to be updated, and thus, the online computation burden is alleviated. The stability of the closed-loop system is proven by using the Lyapunov theorem. A simulation example is given to verify the effectiveness of the approach.

• 出版日期2014-2-1
• 单位辽宁工业大学