Tracking Control for a Class of Switched Nonlinear Systems with Full State Constraints
In this paper, we deal with the tracking control problem for a class of switched nonlinear systems in lower triangular form subject to full state constraints. In order to prevent states from transgressing the constraints, we employ a Barrier Lyapunov Function, which grows to infinity when its arguments approach domain boundaries. Based on the simultaneous domination assumption, we design a continuous controller for the switched system. By ensuring boundedness of the Barrier Lyapunov Function in the closed-loop, we guarantee that the limits are not violated. Furthermore, we show that asymptotic tracking is achieved without transgression of the constraints and all closed-loop signals remain bounded, when a mild requirement on the initial values is imposed. Finally, the effectiveness of the proposed results is demonstrated using a simulation example.
Switched nonlinear systems Tracking control Barrier function Full state constraints
NIU Ben DIMIROVSKI M. Georgi ZHAO Jun
State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University, Shen Department of Computer Engineering, Dogus University, Kadikoy, Istanbul TR-34722, Turkey
国际会议
The 31st Chinese Control Conference(第三十一届中国控制会议)
合肥
英文
2049-2054
2012-07-01（万方平台首次上网日期，不代表论文的发表时间）