Barrier-function based adaptive trajectory tracking control for high-order nonlinear systems with collision avoidance

Lili Zhang, Chenglong Liu and Liwei An

Applied Mathematics and Computation, 2025, vol. 484, issue C

Abstract: This paper considers the problem of trajectory tracking and collision avoidance for a class of high-order nonlinear strict feedback systems with unknown nonlinearities. The main issue is how to ensure collision avoidance and tracking performance simultaneously in the presence of unknown nonlinear functions. To address the issue, an integral-multiplicative barrier Lyapunov function (BLF) is integrated into the backstepping procedure to remove the dynamic mismatching issue of the existing SUM-type BLF. It has been proven that the proposed adaptive approach ensures both collision avoidance and tracking performance of high-order nonlinear systems in multi-obstacle environments, and all the signals in the closed-loop system are uniformly ultimately bounded (UUB). Simulation results confirm the effectiveness of the proposed method.

Keywords: High-order nonlinear systems; Adaptive backstepping control; Collision avoidance; Barrier-Lyapunov functions (search for similar items in EconPapers)
Date: 2025
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Persistent link: https://EconPapers.repec.org/RePEc:eee:apmaco:v:484:y:2025:i:c:s009630032400465x

DOI: 10.1016/j.amc.2024.129004

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