ABSTRACT

The paper investigates the global adaptive output regulation problem (ORP) for nonlinear systems with full-state constraints (FSCs). First, in order to avoid the disadvantages of barrier Lyapunov functions (BLFs) method and logarithmic constraint functions, radical constraint functions method is proposed to solve the FSCs problem of nonlinear systems. Second, a new internal model is designed based on the regulator equations. Third, the ORP of nonlinear systems is transformed into a stabilization problem. Then, according to the changing supply functions method and the Lyapunov analysis method, a non-backstepping control algorithm is proposed to ensure that all signals of the closed-loop system are globally asymptotically bounded, the tracking error is asymptotically stable, and all states of the system can be constrained. Finally, two simulation examples show the effectiveness of the control algorithm.

摘要

本文研究了具有全状态约束 (FSC) 的非线性系统的全局自适应输出调节问题 (ORP)。首先，为了避免势垒李雅普诺夫函数(BLFs)法和对数约束函数的缺点，提出了根约束函数法来解决非线性系统的FSCs问题。其次，基于调节器方程设计了一个新的内部模型。第三，非线性系统的 ORP 转化为镇定问题。然后，根据变化供给函数法和李雅普诺夫分析法，提出了一种非反步控制算法，以保证闭环系统的所有信号全局渐近有界，跟踪误差渐近稳定，所有状态系统可以被约束。最后，