Tracking control for output-constrained nonlinear switched systems with a barrier Lyapunov function |
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Authors: | Ben Niu Jun Zhao |
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Affiliation: | 1. State Key Laboratory of Synthetical Automation for Process Industries , Northeastern University , Shenyang 110819 , P.R. China niubengj@163.com niubenjk@gmail.com;3. State Key Laboratory of Synthetical Automation for Process Industries , Northeastern University , Shenyang 110819 , P.R. China |
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Abstract: | This article focuses on the tracking control problem for switched nonlinear systems in strict-feedback form subject to an output constraint. In order to prevent transgression of the constraint, a barrier Lyapunov function is employed, which grows to infinity when its arguments approach domain boundaries. Under the simultaneous domination assumption, a continuous controller for the switched system is constructed. Furthermore, asymptotic tracking is achieved without violation of the constraint, and all closed-loop signals keep bounded, when a mild requirement on the initial condition is satisfied. Finally, a simulation example is provided to illustrate the effectiveness of the proposed results. |
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Keywords: | switched nonlinear systems tracking control barrier function backstepping constraint |
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