Motion Control with Hard Constraints - Adaptive Controller with Nonlinear Integration

摘要

The paper presents an adaptive controller designed for a nonlinear servo in the presence of hard state constraints. The proposed approach is based on a nonlinear state-space transformation and adaptive backstepping. It allows achieving UUB tracking of any reference trajectory inside the constraints, in spite of unknown plant parameters. Three control schemes, each using integral action differently, are designed and compared. Several examples demonstrate the main features of the design procedure and prove that it may be applied in practical motion control problems.