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首页> 外文期刊>IEEE Transactions on Automatic Control >Removing the Feasibility Conditions Imposed on Tracking Control Designs for State-Constrained Strict-Feedback Systems
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Removing the Feasibility Conditions Imposed on Tracking Control Designs for State-Constrained Strict-Feedback Systems

机译：删除状态约束严格反馈系统的跟踪控制设计上施加的可行性条件

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摘要

For strict-feedback nonlinear systems under full-state constraints, current barrier Lyapunov function (BLF) and integral BLF based control solutions rely on feasibility conditions for virtual controllers. In this work, we present a new solution that completely removes such restrictive conditions. First, we construct a nonlinear state-dependent function that purely depends on constrained states to cope with full state and asymmetric constraints directly; second, we introduce a new coordinate transformation and integrate it into each step of dynamic surface control based backstepping design, completely circumventing the demanding feasibility conditions on virtual controllers. Consequently, there is no need for the tedious offline computations for feasibility verification, allowing the designer more freedom to select design parameters, enabling the system with a larger range of initial conditions to be handled, and rendering the solution more user-friendly in design and implementation. Simulation verification also confirms the benefits and effectiveness of the proposed control method.
机译：对于处于全状态约束下的严格反馈非线性系统，基于电流障碍的李雅普诺夫函数（BLF）和基于积分BLF的控制解决方案依赖于虚拟控制器的可行性条件。在这项工作中，我们提出了一种新的解决方案，它完全消除了这种限制性条件。首先，我们构造一个非线性的状态相关函数，该函数仅依赖于约束状态来直接处理满状态和不对称约束。其次，我们引入了新的坐标转换并将其集成到基于动态表面控制的反步设计的每个步骤中，从而完全规避了虚拟控制器上苛刻的可行性条件。因此，无需进行繁琐的离线计算来进行可行性验证，从而使设计人员可以更加自由地选择设计参数，可以处理具有更大范围初始条件的系统，并使解决方案在设计和设计时更加人性化实施。仿真验证也证实了所提出的控制方法的益处和有效性。

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