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

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.

Keywords:

• High-order nonlinear systems
• full-state constraints
• input saturation
• state feedback stabilisation

Disclosure statement

No potential conflict of interest was reported by the authors.

ORCID

You Wu http://orcid.org/0000-0001-9091-9085

Xue-Jun Xie http://orcid.org/0000-0003-2656-6347

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].