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The paper is concerned with a problem of adaptive tracking system control synthesis. It is assumed that a nonlinear object dynamics (model structure) is (partially) unknown and some of its nonlinear characteristics can be approximated by a sort of functional approximators. It has been proven that a nonlinear state feedback plus parameter adaptation are able to ensure its asymptotic stability. The...
We study adaptive tracking control problems for nonlinear systems in feedback form with multiple inputs and unknown high-frequency control gains. We design controllers that yield uniform global asymptotic stability for the error dynamics, which implies parameter estimation and tracking for the original systems. Our proof relies on a new global strict Lyapunov function construction. We apply our result...
This paper presents a control for state-constrained nonlinear systems in strict feedback form to achieve output tracking. To prevent states from violating the constraints, we employ a barrier Lyapunov function, which grows to infinity whenever its arguments approaches some limits. By ensuring boundedness of the barrier Lyapunov function in the closed loop, we guarantee that the limits are not transgressed...
This paper presents output tracking control for strict feedback nonlinear systems with time-varying output constraint. A Barrier Lyapunov Function (BLF), which depends explicitly on time, is employed at the outset to prevent the output from violating the time-varying constraint. Specifically, we allow the barrier limit to vary with the desired trajectory in time. Through a change of coordinates for...
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