Output regulation problem with prescribed performance for nonlinear lower-triangular system

ABSTRACT

This paper addresses the output regulation problem with prescribed performance for nonlinear lower-triangular systems. To achieve the transient prescribed performance, the output transformation technique and barrier Lyapunov function technique are introduced to solve the output regulation problem. The prescribed performance control scheme based on normal backstepping is constructed not only to restrict the output error of the closed-loop system keeping in a prescribed performance bound, but also to achieve that the output tracks a designed trajectory asymptotically. The effectiveness of the proposed method is illustrated by two simulation examples.

KEYWORDS:

• Output regulation
• barrier Lyapunov function
• output transformation
• prescribed performance bound

Disclosure statement

No potential conflict of interest was reported by the author(s).

Data availability statement

The data that support the findings of this study are available from the corresponding author [Weiyao Lan] upon reasonable request.

Additional information

Funding

This work was supported by National Natural Science Foundation of China [grant number 61873219].

Notes on contributors

Haichao Zhu

Haichao Zhu received his M.S. degree in control engineering from Northeast Electric University, Jilin, China in 2018 and Ph.D. degree in control theory and control engineering from Xiamen University, Xiamen, China in 2022. Since December in 2022, hehas been with the Department of Automation, Henan University of Science and Technology, Luoyang, China, where he is currently a lecturer. His research interests include nonlinear control, switched systems, and output regulation.

Weiyao Lan

Weiyao Lan received his B.S. degree in precision instrument from Chongqing University, Chongqing, China, in 1995, M.S. degree in control theory and control engineering from Xiamen University, Xiamen, China, in 1998, and Ph.D. degree in automation and computer aided engineering from the Chinese University of Hong Kong, Hong Kong, in 2004. From 2004 to 2006, he was a research fellow in the Department of Electrical and Computer Engineering, National University of Singapore, Singapore. Since December in 2006, he has been with the Department of Automation, Xiamen University, Xiamen, China, where he is currently a professor. Dr. Lan is a member of Technical Committee on Control Theory, Chinese Associate of Automation, and the vicepresident of Fujian Association of Automation. He is also serving as an associate editor for the Transactions of the Institute of Measurement and Control. His research interests include nonlinear control theory and applications, intelligent control technology, and robust and optimal control.