Tracking control for nonlinear high-order fully actuated system with state constraints: an explicit reference governor approach

Lin Yang and Yuanlong Li

International Journal of Systems Science, 2024, vol. 55, issue 12, 2531-2540

Abstract: This paper studies the tracking control problem of nonlinear high-order fully actuated system subject to state constraints. In order to guarantee the stability of the closed-loop system, a generalised nonlinear proportional differential controller is designed to configure the system into a desired linear constant system. Then, an explicit reference governor for high-order system is introduced to modify the reference signal such that the system state and the state derivatives of certain orders always remain within a prescribed constraint set. Furthermore, we prove that the modified reference will converge to the original reference as much as possible. Therefore, the system state can finally track to the original reference by tracking the modified reference. Two numerical examples demonstrate the validity of the proposed method in this paper.

Date: 2024
References: Add references at CitEc
Citations:

Downloads: (external link)
http://hdl.handle.net/10.1080/00207721.2024.2317371 (text/html)
Access to full text is restricted to subscribers.

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:taf:tsysxx:v:55:y:2024:i:12:p:2531-2540

Ordering information: This journal article can be ordered from
http://www.tandfonline.com/pricing/journal/TSYS20

DOI: 10.1080/00207721.2024.2317371

Access Statistics for this article

International Journal of Systems Science is currently edited by Visakan Kadirkamanathan

More articles in International Journal of Systems Science from Taylor & Francis Journals
Bibliographic data for series maintained by Chris Longhurst ().