Article Details

Abstract

This paper studies the adaptive prescribed tracking accuracy control problem for a class of uncertain nonlinear systems. A new barrier function is constructed. In the presence of unknown parameters and external disturbances, the output tracking error is maintained within an arbitrarily small region through the adjustment of control parameters and adaptive parameters, and the range of initial values for the system output is expanded. On this basis, an adaptive tracking control method is designed by combining the barrier function with the backstepping method. This method avoids the violation of output constraints and ensures that the tracking error converges to a prescribed compact set. Simulation results verify the effectiveness of the proposed method.

Keywords

nonlinear system; Barrier Lyapunov Function; prescribed tracking accuracy; output constraint; smooth function

References

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About the authors

Lian Guiming (1999-), male, Han nationality, from Huiyang, Guangdong, assistant engineer, master's student, research direction: nonlinear control, thermal detection and control technology.