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Control of Nonlinear Systems with Output Tracking Error Constraints |
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| Authors: | Khac Duc Do Dang Binh Nguyen Anh Duc Nguyen |
| Affiliation: | 1. School of Mechanical Engineering, University of Western Australia, WA 6009, Australia 2. Rectoral Office Thainguyen University of Technology Thainguyen, Vietnam 3. Department of Electrical Engineering, Thainguyen University of Technology Thainguyen, Vietnam |
| Abstract: | A constructive method is presented to design controllers that force the output of nonlinear systems in a strict feedback form to track a bounded and sufficient smooth reference trajectory asymptotically. Under suitable condition with the initial output tracking error, the proposed controllers guarantee the output tracking error within a symmetric or an asymmetric pre-specified limit range, and boundedness of all signals of the closed loop system. A transformation is introduced to take care of the output tracking error constraint. Smooth and/or p-times differentiable step functions are proposed and incorporated in the output tracking error transformation to overcome difficulties due to the asymmetric limit range on the output tracking error. As a result, there are no switchings in the proposed controllers despite of the asymmetric limit range. |
| Keywords: | nonlinear system output constraint backstepping Lyapunov method |
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