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See Blockindiscussions, Blockinstats, Blockinand Blockinauthor Blockinprofiles Blockinfor Blockinthis Blockinpublication Control Blockinof Blockinnonlinear Blockinsystems Blockinwith Blockintime-varying Output Blockinconstraints
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2015
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研究了具有时变输出约束的严格反馈非线性系统的输出跟踪控制问题。一个障碍李雅普诺夫函数（BLF），这显然取决于时间，在开始时，以防止违反时变约束的输出。具体来说，我们允许障碍限制随时间的期望轨迹而变化。通过改变跟踪误差的坐标，消除了跟踪误差的时间依赖性，从而简化了分析。我们表明，渐近输出跟踪实现不违反时变约束，并且所有闭环信号保持有界。通过仿真例子说明了所提出的控制的性能。
This paper presents output tracking control for strict feedback nonlinear systems with time-varying output constraint. A Barrier Lyapunov Function (BLF), which depends explicitly on time, is employed at the outset to prevent the output from violating the time-varying constraint. Specifically, we allow the barrier limit to vary with the desired trajectory in time. Through a change of coordinates for the tracking error, we then eliminate the time dependence, therefore simplifying the analysis. We show that asymptotic output tracking is achieved without violation of the time-varying constraint, and that all closed loop signals remain bounded. The performance of the proposed control is illustrated through a simulation example.