Tracking control for switched nonlinear systems subject to time-varying output constraints
CitationNiu, B., Dimirovski, G. M., & Zhao, J. (2012). Tracking control for switched nonlinear systems subject to time-varying output constraints. In ASME 2012 11th Biennial Conference on Engineering Systems Design and Analysis, ESDA 2012 (pp. 709-716). New York: ASME. http://dx.doi.org/10.1115/ESDA2012-82266
In this paper, we address the tracking control problem for switched nonlinear systems in strict-feedback form with time-varying output constraints. To prevent the output from violating the time-varying constraints, we employ a Barrier Lyapunov Function, which relies explicitly on time. Based on the simultaneous domination assumption, we design a controller for the switched system, which guarantees that asymptotic tracking is achieved without transgression of the constraints and all closed-loop signals remain bounded under arbitrary switchings. The effectiveness of the proposed results is illustrated using a numerical example.