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Adaptive Tracking Control for Output-Constrained Switched MIMO Pure-Feedback Nonlinear Systems with Input Saturation

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Abstract

In this paper, an adaptive neural tracking control scheme for a class of uncertain switched multi-input multi-output (MIMO) pure-feedback nonlinear systems is proposed. The considered MIMO pure-feedback nonlinear system contains input and output constraints, completely unknown nonlinear functions and time-varying external disturbances. The unknown nonlinear functions representing system uncertainties are identified via radial basis function neural networks (RBFNNs). Then, the Nussbaum function is utilized to deal with the nonlinearity issue caused by the input saturation. To prevent system outputs from violating prescribed constraints, the barrier Lyapunov functions (BLFs) are introduced. Also, a switched disturbance observer is designed to make the time-varying external disturbances estimable. Based on the backstepping recursive design technique and the Lyapunov stability theory, the developed control method is verified applicable to ensure the boundedness of all signals in the closed-loop system and make the system output track given reference signals well. Finally, a numerical simulation is given to demonstrate the effectiveness of the proposed control method.

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Author information

Authors and Affiliations

  1. College of Control Science and Engineering, Bohai University, Jinzhou, 121013, China

    Haoyan Zhang & Xudong Zhao

  2. Faculty of Electronic Information and Electrical Engineering, Dalian University of Technology, Dalian, 116024, China

    Xudong Zhao

  3. College of Mathematical Science, Bohai University, Jinzhou, 121013, China

    Huanqing Wang

  4. School of Information Science and Engineering, Shandong Normal University, Jinan, 250014, China

    Ben Niu

  5. College of Information Science and Technology, Bohai University, Jinzhou, 121013, China

    Ning Xu

Authors
  1. Haoyan Zhang
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  2. Xudong Zhao
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  3. Huanqing Wang
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  4. Ben Niu
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  5. Ning Xu
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Corresponding author

Correspondence to Ning Xu.

Additional information

This work was partially supported by the National Natural Science Foundation of China under Grant No. 62203064 and the Eduction Committee Liaoning Province, China under Grant No. LJ2019002.

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Zhang, H., Zhao, X., Wang, H. et al. Adaptive Tracking Control for Output-Constrained Switched MIMO Pure-Feedback Nonlinear Systems with Input Saturation. J Syst Sci Complex 36, 960–984 (2023). https://doi.org/10.1007/s11424-023-1455-y

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  • DOI: https://doi.org/10.1007/s11424-023-1455-y

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