Balanced control between performance and saturation for constrained nonlinear systems

DOI10.1002/RNC.6665MaRDI QIDQ6152773zbMATH OpenOpenAlexFDO

Authors Hai-Bin Wang, Xiaobing Zhang, Shuzhi Sam Ge

Publication date 13 February 2024

Published in International Journal of Robust and Nonlinear Control (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/2205.04674

zbMATH Keywords

constrained controlcommand filtered backsteppingperformance controlbalanced control

Mathematics Subject Classification ID

Nonlinear systems in control theory (93C10) Control/observation systems governed by ordinary differential equations (93C15)

Abstract: This paper addresses the balanced control between performance and saturation for a class of constrained nonlinear systems, including the branches: balanced command filtered backstepping (BCFB) and balanced performance control (BPC). To balance the interconnection and conflict between performance and saturation constraints, define a performance safety evaluation (PSE) function, which evaluates the system safety under the destabilizing effect variables (DEVs) like saturation quantity and filter errors, then the cumulative effects of DEVs are fully utilized and compensated for the performance recovery. Specifically, there exists some degree of tolerance for the DEVs in the safety region, and the compensation operation works when the evaluation of the system goes dangerous. The advantages of the proposed methodology are illustrated in the numerical simulation.

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