Shifting and state transformations-based adaptive tracking control for deferred full state-constrained uncertain...

Area of Science:

• Control Systems Engineering
• Nonlinear Dynamics

Background:

• Addressing tracking control for uncertain nonlinear systems with time-varying state constraints presents significant challenges.
• Existing methods often require complex feasibility tests for virtual control variables.

Purpose of the Study:

• To develop an effective tracking control strategy for uncertain nonlinear systems with deferred time-varying state constraints.
• To overcome limitations of existing methods, such as the need for feasibility tests.

Main Methods:

• A novel shifting function is defined to handle initial states outside the constraint region.
• A new state transformation converts the constraint problem into a boundedness problem.
• Adaptive backstepping control and dynamic surface control are employed for controller design and stability analysis.

Main Results:

• The proposed method successfully achieves ideal tracking performance.
• It avoids the feasibility test for virtual control variables, simplifying the design process.
• Simulation results demonstrate enhanced control efficiency and broader applicability compared to existing strategies.

Conclusions:

• The developed control scheme offers a robust and efficient solution for tracking control of nonlinear systems with complex constraints.
• This approach improves upon existing methods by eliminating feasibility tests and enhancing performance metrics.