Regular Papers

International Journal of Control, Automation, and Systems 2024; 22(2): 517-526

https://doi.org/10.1007/s12555-022-0955-1

© The International Journal of Control, Automation, and Systems

Barrier Lyapunov Functions-based Output Feedback Control for a Class of Nonlinear Cascade Systems With Time-varying Output Constraints

Jing Yang, Jie Zhang, Zhongcai Zhang, and Yuqiang Wu*

Qufu Normal University

Abstract

In this study, a class of nonlinear systems with integral input to state stability (iISS) inverse dynamics and unknown control direction are examined for the issue of time-varying asymmetric output constraints of adaptive output feedback controller. To deal with unmeasured state variables and unknown directions, the state observer is constructed using a Rickati matrix differential equation with time variation. A backstepping-based method is recommended for establishing the dynamic output feedback control law. By ensuring boundedness for the timedependent barrier Lyapunov function (BLF) in the closed loop, we may not only maintain the boundedness and stability of other signals, but also avoid breaking the time-varying asymmetric constraint of the output. Finally, simulation analyses are used to confirm the scheme’s efficacy.

Keywords Barrier Lyapunov function, integral input to state stability, inverse dynamics, unknown control directions.

Article

Regular Papers

International Journal of Control, Automation, and Systems 2024; 22(2): 517-526

Published online February 1, 2024 https://doi.org/10.1007/s12555-022-0955-1

Copyright © The International Journal of Control, Automation, and Systems.

Barrier Lyapunov Functions-based Output Feedback Control for a Class of Nonlinear Cascade Systems With Time-varying Output Constraints

Jing Yang, Jie Zhang, Zhongcai Zhang, and Yuqiang Wu*

Qufu Normal University

Abstract

In this study, a class of nonlinear systems with integral input to state stability (iISS) inverse dynamics and unknown control direction are examined for the issue of time-varying asymmetric output constraints of adaptive output feedback controller. To deal with unmeasured state variables and unknown directions, the state observer is constructed using a Rickati matrix differential equation with time variation. A backstepping-based method is recommended for establishing the dynamic output feedback control law. By ensuring boundedness for the timedependent barrier Lyapunov function (BLF) in the closed loop, we may not only maintain the boundedness and stability of other signals, but also avoid breaking the time-varying asymmetric constraint of the output. Finally, simulation analyses are used to confirm the scheme’s efficacy.

Keywords: Barrier Lyapunov function, integral input to state stability, inverse dynamics, unknown control directions.

IJCAS
April 2024

Vol. 22, No. 4, pp. 1105~1460

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