Addressing complex state constraints in the integral barrier Lyapunov function-based adaptive tracking control
Addressing complex state constraints in the integral barrier Lyapunov function-based adaptive tracking control
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DOI：
10.1080/00207179.2022.2036371
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发表时间：
2022-01
影响因子：
2.1
通讯作者：
D. Tian;Xingyong Song
中科院分区：
文献类型：
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作者：
D. Tian;Xingyong Song
针对具有复杂约束区域的状态约束控制问题，提出了一种基于积分障碍李雅普诺夫函数的自适应反推跟踪控制方法。障碍李雅普诺夫函数方法提供了一个有效的工具，将障碍项嵌入到李雅普诺夫函数，使障碍避免和闭环稳定的集成。在文献中，以前的工作在该地区的障碍李雅普诺夫函数大多考虑了一个简单的超矩形形状的约束区域。在这项研究中，复杂的障碍区域是第一次引入到障碍李雅普诺夫函数框架。针对一类不确定非线性参数系统，构造了一种新的递推设计方法，保证闭环信号有界且跟踪误差收敛。最后，将所提出的方法应用于一个数值例子，说明了这项工作的有效性。
For the state-constrained control problem with complex constrained regions, this paper presents an Integral Barrier Lyapunov Function-based adaptive backstepping scheme for the tracking control. The Barrier Lyapunov Function approach provides an effective tool to embed the barrier terms into the Lyapunov function, enabling the integration of barrier avoidance and closed-loop stabilisation. In the literature, previous works in the area of Barrier Lyapunov Function mostly considered a simple hyperrectangle shape of the constrained region. In this study, the complex barrier region is for the first time introduced to the Barrier Lyapunov Function framework. A novel recursive design procedure is constructed for a class of uncertain nonlinear parametric systems, ensuring the closed-loop signals are all bounded and the tracking errors are convergent. Finally, the proposed method is applied to a numerical example, illustrating the efficacy of this work.