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Adaptive barrier-lyapunov-functions Based Control Scheme of Nonlinear Pure-Feedback Systems with Full State Constraints and Asymptotic Tracking Performance

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Journal of Systems Science & Complexity 2024年第3期37卷 965-984页

作者： NIU Ben WANG Xiaoan WANG Xiaomei WANG Xinjun LI Tao Faculty of Electronic Information and Electrical Engineering Dalian University of TechnologyDalian 116024China School of Information Science and Engineering Shandong Normal UniversityJinan 250014China School of Mathematics Southeast UniversityNanjing 211189China School of Automation Nanjing University of Information Science and TechnologyNanjing 210044China

In this paper,the authors propose an adaptive barrier-lyapunov-functions(BLFs)based control scheme for nonlinear pure-feedback systems with full state constraints.Due to the coexist of the non-affine structure and full state constraints,it is very difficult to construct a desired controller for the considered system.According to the mean value theorem,the authors transform the pure-feedback system into a system with strict-feedback structure,so that the well-known backstepping method can be applied.Then,in the backstepping design process,the BLFs are employed to avoid the violation of the state constraints,and neural networks(NNs)are directly used to online approximate the unknown packaged nonlinear terms.The presented controller ensures that all the signals in the closed-loop system are bounded and the tracking error asymptotically converges to zero.Meanwhile,it is shown that the constraint requirement on the system will not be violated during the operation.Finally,two simulation examples are provided to show the effectiveness of the proposed control scheme.

关键词： Asymptotic tracking control barrier lyapunov functions full state constraints nonlinear pure-feedback systems

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Backstepping approach for controlling a quadrotor using barrier lyapunov functions

Backstepping approach for controlling a quadrotor using Barr...

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第36届中国控制会议

作者： Yihao Wei Chuanjiang Li Yanchao Sun Guangfu Ma Harbin Institute of Technology

ISBN: (纸本)9781538629185

The dynamics of a quadrotor has the characteristics of underactuation,strong coupling,and nonlinearities,which makes the controller design difficult.Aimed at stabilizing the attitude of a quadrotor,in this paper,we establish the dynamics of the quadrotor.Based on the simplified dynamics model,we design a backstepping based controller using barrier lyapunov functions.Numerical examples and comparisons with traditional backstepping approach are provided to show the effectiveness and the superiority of the proposed control strategy.

关键词： quadrotor system backstepping control barrier lyapunov functions attitude stability

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Time-Varying Asymmetrical BLFs Based Adaptive Finite-Time Neural Control of Nonlinear Systems With Full State Constraints

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IEEE/CAA Journal of Automatica Sinica 2020年第5期7卷 1335-1343页

作者： Lei Liu Tingting Gao Yan-Jun Liu Shaocheng Tong College of Science Liaoning University of TechnologyJinzhou 121001China IEEE

This paper concentrates on asymmetric barrier lyapunov functions(ABLFs)based on finite-time adaptive neural network(NN)control methods for a class of nonlinear strict feedback systems with time-varying full state constraints.During the process of backstepping recursion,the approximation properties of NNs are exploited to address the problem of unknown internal dynamics.The ABLFs are constructed to make sure that the time-varying asymmetrical full state constraints are always satisfied.According to the lyapunov stability and finitetime stability theory,it is proven that all the signals in the closedloop systems are uniformly ultimately bounded(UUB)and the system output is driven to track the desired signal as quickly as possible near the origin.In the meantime,in the scope of finitetime,all states are guaranteed to stay in the pre-given range.Finally,a simulation example is proposed to verify the feasibility of the developed finite time control algorithm.

关键词： barrier lyapunov functions constrained control finite time stability neural control

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Finite-Time Formation Control of Mobile Robots Under Limited Sensing Range

Finite-Time Formation Control of Mobile Robots Under Limited...

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第30届中国控制与决策会议

作者： Shi-Lu Dai Xin Chen Shude He School of Automation Science and Engineering South China University of Technology

This paper addresses the finite-time decentralized platoon formation control problem for a platoon of mobile robots. Under the limited sensing range, the control objective is to ensure the robotic platoon follow the virtual leader and to guarantee each robot satisfies the distance and bearing angle constraints such that it could detect its predecessor and avoid collision with its predecessor. To guarantee non-violation of the constraints, novel tan-type barrier lyapunov functions are employed, and the boundary functions are taken as time-varying exponential functions to provide transient performances of formation errors. Based on backstepping procedure, barrier lyapunov functions, and lyapunov synthesis, the decentralized formation controllers are designed, where the finite-time control is incorporated with the control design technique to achieve finite time convergence of the formation errors with guaranteed prescribed performances.The proposed formation control is decentralized in the sense that each robot calculates its control signals based only on its predecessor’s information. Simulation results illustrate the performance of the proposed formation controller.

关键词： Finite-time formation control Mobile robots barrier lyapunov functions Prescribed performance

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Tracking Control of Quadrotor UAV with Input Delay

Tracking Control of Quadrotor UAV with Input Delay

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第三十九届中国控制会议

作者： Shuo Li Na Duan Zhizheng Xu Xiaoyang Liu School of Electrical Engineering & Automation Jiangsu Normal University School of Computer Science and Technology Jiangsu Normal University

This paper aims to solve the position control problem for quadrotor unmanned aerial vehicle（UAV）. In order to be closer to the real UAV system, we consider the UAV with input delay. A barrier lyapunov function is introduced to ensure that the tracking error is limited within a predetermined range. Pade approximation and an intermediate variable are applied to compensate the effect of the input delay. By using the designed control method, the UAV can track the desired trajectory. Finally,the simulation example is given to verify the effectiveness of the proposed approach.

关键词： Quadrotor UAV Input Delay barrier lyapunov functions Tracking Control

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