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Robust adaptive control for prescribed performance tracking of constrained uncertain nonlinear systems |
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| Authors: | Tairen Sun Yongping Pan |
| Institution: | 1. Department of Electrical and Information Engineering, Jiangsu University, Zhenjiang 212013, China;2. Department of Biomedical Engineering, National University of Singapore, Singapore 117583, Singapore;3. National University of Singapore (Suzhou) Research Institute, Suzhou 215123, China |
| Abstract: | This paper proposes a robust adaptive control strategy for a class of state-constrained uncertain nonlinear systems with prescribed transient and steady-state behavior. The prescribed tracking performance can be characterized by constraints on an output tracking error. Both state and output constraints are achieved by bounding integral barrier Lyapunov functions in the backstepping procedure. A robust adaptive term is designed to compress auxiliary system uncertainties without the knowledge of their bounds. The satisfaction of control constraints and tracking error convergence are verified by theoretical analysis and are illustrated by simulation results. |
| Keywords: | Corresponding author at: Department of Biomedical Engineering National University of Singapore Singapore 117583 Singapore |
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