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作者:

Li, Dapeng (Li, Dapeng.) | Han, Hong-Gui (Han, Hong-Gui.) | Qiao, Jun-Fei (Qiao, Jun-Fei.)

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摘要:

In this article, the tracking control problem is investigated for uncertain nonlinear multiple constrained systems. The constraints on tracking error and system states are considered as asymmetric, time-varying, and state-dependent case, which is more general and appropriately unsolved at the present stage. To deal with constraint problem, an adaptive constraint control method based on composite boundary structure is proposed in this article. The state-dependent mapping is introduced to ensure the tracking error and full system states within the asymmetric and state-dependent constraint regions without involved feasibility condition on virtual controllers. Meanwhile, the singularity problem caused by the constrained variables approaching the constraint boundaries is considered in this article. The composite boundary structure is incorporated into controller design to avoid the control signals and adaptive laws tending to infinity. The advantage and availability of the developed control method are exhibited by simulation validation and results analysis.

关键词:

state-dependent mapping composite boundary structure Adaptive constraint control Nonlinear systems Adaptive control Tracking loops Control systems Explosions dynamic surface control Lyapunov methods Uncertainty

作者机构:

  • [ 1 ] [Li, Dapeng]Beijing Univ Technol, Fac Informat Technol, Beijing Key Lab Computat Intelligence & Intelligen, Beijing 100124, Peoples R China
  • [ 2 ] [Han, Hong-Gui]Beijing Univ Technol, Fac Informat Technol, Beijing Key Lab Computat Intelligence & Intelligen, Beijing 100124, Peoples R China
  • [ 3 ] [Qiao, Jun-Fei]Beijing Univ Technol, Fac Informat Technol, Beijing Key Lab Computat Intelligence & Intelligen, Beijing 100124, Peoples R China

通讯作者信息:

  • [Qiao, Jun-Fei]Beijing Univ Technol, Fac Informat Technol, Beijing Key Lab Computat Intelligence & Intelligen, Beijing 100124, Peoples R China;;

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来源 :

IEEE TRANSACTIONS ON AUTOMATIC CONTROL

ISSN: 0018-9286

年份: 2024

期: 8

卷: 69

页码: 5686-5693

6 . 8 0 0

JCR@2022

被引次数:

WoS核心集被引频次:

SCOPUS被引频次: 15

ESI高被引论文在榜: 0 展开所有

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