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Barrier Lyapunov Function-based control for strict-feedback systems withfull state constraints
WANG Chunxiao,WU Yuqiang *
Department of Engineering, Qufu Normal University
*Correspondence author
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Funding: none
Opened online: 8 July 2016
Accepted by: none
Citation: WANG Chunxiao,WU Yuqiang.Barrier Lyapunov Function-based control for strict-feedback systems withfull state constraints[OL]. [ 8 July 2016] http://en.paper.edu.cn/en_releasepaper/content/4699692
 
 
This paper studies an adaptive control design for a class of strict-feedback nonlinear systems with asymmetric time-varying full state constraints. A time-varying asymmetric Barrier Lyapunov Function (ABLF) is employed to ensure time-varying constraints satisfaction. By allowing the barriers to vary with the desired trajectory in time, the initial condition requirements are relaxed. Thus the ABLF can afford greater flexibility in control design. The high order coupling terms caused by backstepping method are canceled through variable substitution. Asymptotic tracking is achieved without violation of any constraints, and all signals in the closed-loop system are ultimately bounded. The performance of the ABLF-based control is illustrated through a numerical example.
Keywords:nonlinear strict-feedback system; ABLF; time-varying; full stateconstraints; backstepping.
 
 
 

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