Reference
M. Lv, B. De Schutter, J. Cao, and S. Baldi, "Adaptive prescribed performance
asymptotic tracking for high-order odd-rational-power nonlinear systems,"
IEEE Transactions on Automatic Control, vol. 68, no. 2, pp.
1047-1053, Feb. 2023.
Abstract
Practical tracking results have been reported in the literature for high-order
odd-rational-power nonlinear dynamics (a chain of integrators whose power is
the ratio of odd integers). Asymptotic tracking remains an open problem for
such dynamics. This note gives a positive answer to this problem in the
framework of prescribed performance control (PPC), without approximation
structures (neural networks, fuzzy logic, etc.) being involved in the control
design. The unknown system uncertainties are first transformed to unknown but
bounded terms using barrier Lyapunov functions, and then these terms are
compensated by appropriate adaptation laws. A method is also proposed to
extract the control terms in a linear-like fashion during the control design
which overcomes the difficulty that virtual or actual control signals appear in
a non-affine manner. A practical poppet valve system is used to validate the
effectiveness of the theoretical findings.
Publisher page
Downloads
BibTeX
@article{LvDeS:23-001,
author = {Lv, Maolong and De Schutter, Bart and Cao, Jinde and Baldi,
Simone},
title = {Adaptive Prescribed Performance Asymptotic Tracking for
High-Order Odd-Rational-Power Nonlinear Systems},
journal = {IEEE Transactions on Automatic Control},
volume = {68},
number = {2},
pages = {1047--1053},
month = feb,
year = {2023}
}