Design of adaptive tracking controller using barrier functions for nonlinear systems with input saturation

摘要

In this paper, an adaptive tracking controller using barrier functions is constructed for unknown strict-feedback nonlinear systems subject to input saturation. A new design strategy based on an auxiliary system is proposed to handle the influence of input saturation. By the constructed controller, the states of the system are globally bounded, and the tracking error is bounded by an explicit function of the input saturation error and the design parameters. The nonlinear terms are unknown, which are compensated by the adaptive technique. The derivatives of the virtual control laws do not need to be calculated, and the complicated calculations are avoided. Two simulation examples are presented to demonstrate the theoretic results. (C) 2020 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.