Adaptive Control of Input Delayed Uncertain Nonlinear Systems With Time-Varying Output Constraints

作者：Deng, Wenxiang; Yao, Jianyong^*; Ma, Dawei

来源：IEEE Access, 2017, 5: 15271-15282.

DOI：10.1109/ACCESS.2017.2730222

• Adaptive control
• input delay
• barrier function
• output constraints
• Lyapunov-Krasovskii functional
• uncertainty

This paper focuses on the tracking control of a class of uncertain nonlinear systems with consideration of both time-varying input delay and output constraints. By introducing an auxiliary signal, which is based on the finite integral of the past control values in the design procedure, an adaptive controller is proposed to compensate for the effect of input delay and to handle various uncertainties. Meanwhile, an asymmetric time-varying barrier Lyapunov function is employed in the controller design to ensure the output constraint satisfaction. The stability analysis utilizing Lyapunov-Krasovskii functionals reveals that the proposed adaptive controller guarantees a uniformly ultimately bounded tracking performance and the time-varying output constraints are never violated. Two simulation examples are given to verify the effectiveness of the proposed control scheme.

• 出版日期2017
• 单位南京理工大学