Fast finite-time adaptive stabilization of high-order uncertain nonlinear system with an asymmetric output constraint
This paper is concerned with two essential problems in adaptive control. The first is to improve the stability criteria in the presence of the constraint and unknown parameters, and the second is to establish a fast finite-time control scheme for high-order uncertain nonlinear systems with inherent...
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| Main Authors: | , , , |
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| Other Authors: | |
| Format: | Article |
| Language: | English |
| Published: |
2021
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| Subjects: | |
| Online Access: | https://hdl.handle.net/10356/152142 |
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| Institution: | Nanyang Technological University |
| Language: | English |
| Summary: | This paper is concerned with two essential problems in adaptive control. The first is to improve the stability criteria in the presence of the constraint and unknown parameters, and the second is to establish a fast finite-time control scheme for high-order uncertain nonlinear systems with inherent nonlinearities and an asymmetric output constraint. A continuous adaptive controller is constructed by utilizing a new barrier function and a serial of nonnegative integral functions equipped with sign functions, which guarantees that the output is restricted in a prescribed region and the state converges to zero in a faster speed compared to some traditional finite-time stabilizers. Unlike some existing control schemes developed for systems with the output constraint, the proposed method unifies finite-time control design in dealing with both constrained and unconstrained systems for the first time by taking the structure of the high-order system into consideration. Finally, a simulation example confirms the effectiveness of theoretical results. |
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