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Niu, Ben; Zhao, Jun

Tracking control for output-constrained nonlinear switched systems with a barrier Lyapunov function. (English) Zbl 1278.93142

Int. J. Syst. Sci. 44, No. 5, 978-985 (2013).
Summary: 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.

Cited in 50 Documents

MSC:

93C30 Control/observation systems governed by functional relations other than differential equations (such as hybrid and switching systems)
93C10 Nonlinear systems in control theory
93D30 Lyapunov and storage functions

Keywords:

switched nonlinear systems; tracking control; barrier function; backstepping; constraint
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\textit{B. Niu} and \textit{J. Zhao}, Int. J. Syst. Sci. 44, No. 5, 978--985 (2013; Zbl 1278.93142)
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