Adaptive stabilisation of output-constrained high-order nonlinear systems with high-order and low-order nonlinearities. (English) Zbl 07913814
Summary: This paper investigates the adaptive stabilisation of output-constrained high-order nonlinear systems with more general high-order and low-order nonlinearities. By skilfully introducing nonlinear mappings, a key coordinate transformation, integral Lyapunov functions and the sign function into the adding a power integrator technique, and combining a novel analysis method, a continuous adaptive state-feedback controller is constructed. When the initial value of system states lies in the constrained set, it is rigorously proved that all the closed-loop signals are uniformly bounded, the asymmetric output constraint isn’t transgressed, and the equilibrium point of the closed-loop system is uniformly asymptotically stable. A simulation example shows the effectiveness of this control scheme.
MSC:
| 93-XX | Systems theory; control |
Keywords:
high-order nonlinear systems; high-order and low-order nonlinearities; asymmetric output constraint; adaptive state-feedback stabilisationReferences:
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