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- Title
Global robust stabilization for cascaded systems with dynamic uncertainties and asymmetric time-varying constraints.
- Authors
Zou, Fangling; Wu, Kang; Wu, Yuqiang
- Abstract
This article investigates an adaptive output feedback control problem for a non-holonomic system with integral input-to-state stable inverse dynamics and output constraints. A tan-type barrier Lyapunov function is utilized to handle asymmetric time-varying output constraints, and the full-order observer is constructed to estimate the unmeasurable state. The dynamic uncertainty is eliminated by changing the supply rate of the integral input-to-state stability. It is demonstrated that the closed-loop system is asymptotically stable, and the output does not violate the asymmetric time-varying constraints under this control scheme. A simulation example validates the effectiveness of the proposed controller.
- Subjects
DYNAMICAL systems; NONHOLONOMIC dynamical systems; CLOSED loop systems; LYAPUNOV functions; ADAPTIVE control systems; ADAPTIVE fuzzy control
- Publication
Nonlinear Dynamics, 2023, Vol 111, Issue 20, p18969
- ISSN
0924-090X
- Publication type
Article
- DOI
10.1007/s11071-023-08867-z