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Tracking control of state constrained fractional order nonlinear systems
Changhui Wang1, Xiao Li1, Limin Cui1
1School of Electromechanical and Automotive Engineering, Yantai University, 32 Qingquan Road, Laishan District, Yantai, PR China.
ISA Transactions
|June 7, 2021
Summary
This study addresses adaptive control for fractional-order systems with constraints and unmeasured states. A novel observer-controller design ensures system stability and state constraints are maintained.
Area of Science:
- Control Theory
- Fractional Calculus
- Nonlinear Systems
Background:
- Adaptive control is crucial for systems with uncertainties.
- Fractional-order systems exhibit complex dynamics.
- State constraints and input saturation pose significant control challenges.
Purpose of the Study:
- To develop an adaptive output-feedback control strategy.
- To handle full-state constraints in fractional-order strict-feedback systems.
- To address unmeasured states and input saturation.
Main Methods:
- Fractional-order observer design for state estimation.
- Backstepping procedure combined with barrier Lyapunov functions.
- Adaptive control laws and adaptation laws derived using Lyapunov stability theory.
Main Results:
- All system states remain within specified constraint bounds.
- The error system converges to a bounded set around the origin.
- Demonstrated effectiveness through two illustrative examples.
Conclusions:
- The proposed control scheme effectively manages constrained fractional-order systems.
- The method ensures stability and constraint satisfaction.
- Validates the approach for systems with unmeasured states and input saturation.
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