Global adaptive output regulation for nonlinear systems with full-state constraints

ABSTRACT

The paper investigates the global adaptive output regulation problem (ORP) for nonlinear systems with full-state constraints (FSCs). First, in order to avoid the disadvantages of barrier Lyapunov functions (BLFs) method and logarithmic constraint functions, radical constraint functions method is proposed to solve the FSCs problem of nonlinear systems. Second, a new internal model is designed based on the regulator equations. Third, the ORP of nonlinear systems is transformed into a stabilization problem. Then, according to the changing supply functions method and the Lyapunov analysis method, a non-backstepping control algorithm is proposed to ensure that all signals of the closed-loop system are globally asymptotically bounded, the tracking error is asymptotically stable, and all states of the system can be constrained. Finally, two simulation examples show the effectiveness of the control algorithm.

KEYWORDS:

• Nonlinear systems
• output regulation problem
• internal model
• full-state constraints

Disclosure statement

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

Additional information

Notes on contributors

Fujin Jia

Fujin Jia received his MS degree in Control Engineering from Nanchang Hangkong University, Nanchang, P R China, in 2018. He is currently working toward a PhD degree in control science and engineering from Nanjing University of Science and Technology, Nanjing, P R China. His current research interests include the ORP of nonlinear systems and FSCs control.

Junwei Lu

Junwei Lu received the BEng. degree and MTech degree from the Nanjing University of Aeronautics and Astronautics in 2001, and Nanjing University of Science and Technology in 2008, respectively. From 1993 to 2000, she was on faculty in the Nanjing Power College. Since 2000, she has held a faculty position in the College of Electrical and Electronic Engineering at the Nanjing Normal University. Her current research interests include robust filtering and control, time-delay systems and nonlinear systems.