State Constraint Control for Uncertain Nonlinear Systems With Disturbance Compensation

IEEE Access

卷:7

Jianyong Yao¹  Zhangbao Xu²  Qingyun Liu³  Xiaolei Hu⁴  Lan Li⁵  Nenggang Xie⁵ 

[1] China Academy of Launch Vehicle Technology, Beijing, China;

[2] Engineering Research Center of Hydraulic Vibration and Control, Ministry of Education, Anhui University of Technology, Ma&x2019;

[3] School of Mechanical Engineering, Anhui University of Technology, Ma&x2019;

[4] School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing, China;

[5] anshan, China;

关键词: Uncertain nonlinear systems;    state constraint;    extended state observer;    disturbance compensation;   

DOI  :  10.1109/ACCESS.2019.2947629

来源: DOAJ

【 摘 要 】

In this paper, a state constraint controller with disturbance compensation is proposed for uncertain nonlinear systems to improve the control performance without violating the full state constraints. A series of extended state observers are designed to estimate disturbances that include the unmodeled dynamics and the modeling errors. To guarantee non-violation of state constraints while compensating the disturbances, based on the backstepping technique, the state constraint controller with extended state observer is proposed by using the barrier Lyapunov function. Then, the stability of the closed-loop system is proved theoretically. Moreover, exponentially asymptotic tracking is achieved when the disturbances are not time-variant. Finally, the effectiveness of the proposed approach is verified by two examples.

【 授权许可】

Unknown