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Tuning functions based adaptive backstepping control for uncertain strict-feedback nonlinear systems using barrier Lyapunov functions with full state constraints

Soukkou, Yassine; Tadjine, Mohamed; Soukkou, Ammar; Nibouche, Mokhtar; Nouri, Hassan

Authors

Yassine Soukkou

Mohamed Tadjine

Ammar Soukkou

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Hassan Nouri Hassan.Nouri@uwe.ac.uk
Reader in Electrical Power and Energy



Abstract

This paper investigates the tuning functions based adaptive backstepping control for a class of uncertain strict-feedback nonlinear systems using barrier Lyapunov functions with full state constraints. The proposed adaptive control scheme is constructed by combining the barrier Lyapunov functions (BLFs) with the tuning functions based adaptive backstepping control technique. Compared with the relevant results, the proposed adaptive control scheme is constructed to guarantee that the overparametrization problem inherent to the conventional adaptive backstepping control method is avoided and the full state constraints are not violated by introducing BLFs. Moreover, it is proved that all the signals in the closed-loop system are uniformly ultimately bounded (UUB) and the tracking errors converge to a small neighborhood around zero by appropriately choosing design parameters. Simulation results of an electromechanical system are provided to verify the feasibility of the proposed adaptive control method. The simulation results clearly prove the effectiveness of our approach compared with the tuning functions based adaptive backstepping control (TFABC) and the traditional backstepping control design (BC) schemes that system state without constraints.

Journal Article Type Article
Acceptance Date Jan 26, 2023
Online Publication Date Feb 1, 2023
Publication Date Mar 1, 2023
Deposit Date Feb 23, 2023
Publicly Available Date Feb 2, 2025
Journal European Journal of Control
Print ISSN 0947-3580
Publisher Elsevier
Peer Reviewed Peer Reviewed
Volume 70
Pages 100783
DOI https://doi.org/10.1016/j.ejcon.2023.100783
Keywords Engineering; Adaptive control; Tuning functions; Uncertain strict-feedback nonlinear systems; Barrier Lyapunov functions (BLFs); Full state constraints; Electromechanical system
Public URL https://uwe-repository.worktribe.com/output/10480704
Publisher URL https://www.sciencedirect.com/science/article/pii/S0947358023000122?via%3Dihub

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This file is under embargo until Feb 2, 2025 due to copyright reasons.

Contact Hassan.Nouri@uwe.ac.uk to request a copy for personal use.




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