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International Journal of Control Volume 94, 2021 - Issue 4
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Articles

Stabilisation of high-order nonlinear systems with full-state constraints and input saturation

You WuInstitute of Automation, Qufu Normal University, Shandong, People's Republlic of ChinaORCID Iconhttps://orcid.org/0000-0001-9091-9085View further author information
ORCID Icon &
Xue-Jun XieInstitute of Automation, Qufu Normal University, Shandong, People's Republlic of ChinaCorrespondence[email protected]
ORCID Iconhttps://orcid.org/0000-0003-2656-6347View further author information
ORCID Icon
Pages 999-1009 | Received 08 Dec 2018, Accepted 27 May 2019, Published online: 10 Jun 2019
 
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ABSTRACT

This paper investigates the semi-global stabilisation problem of high-order nonlinear systems with full-state constraints and input saturation. By constructing the high-order barrier Lyapunov function (BLF) and auxiliary subsystem, a state feedback controller is designed without state and input constraints violation. It is proved that all the closed-loop signals are bounded in the semi-global sense, error signals converge to a small neighbourhood of the origin, and full-state constraints and input saturation are not violated. Two simulation examples are presented to show the feasibility and advantage of this method.

Disclosure statement

No potential conflict of interest was reported by the authors.

Additional information

Funding

This work was supported by National Natural Science Foundation of China [61673242] and Taishan Scholar Project of Shandong Province of China [ts201712040].

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