The paper introduces a novel Barrier Integral Control (BRIC) algorithm to address the problem of asymptotic stabilization for high-order control-affine MIMO nonlinear systems with unknown dynamic terms.
The key highlights of the BRIC algorithm are:
It confines the system's state within a predeļ¬ned funnel, ensuring adherence to prescribed transient constraints, and asymptotically drives the state to zero from any initial condition.
It leverages the integration of a reciprocal barrier function and an error-integral term, featuring smooth feedback control.
It operates without relying on any information or approximation schemes for the unknown dynamic terms, which are not assumed to be bounded or to comply with globally Lipschitz/growth conditions.
The system's trajectory and asymptotic performance are decoupled from the uncertain model, control-gain selection, and initial conditions.
The paper first establishes the existence of a local maximal solution satisfying the state constraints. It then proves the extension of this solution to the entire time horizon and the global asymptotic stabilization of the state to the origin, despite the unknown system dynamics.
Comparative simulation studies validate the effectiveness of the proposed BRIC algorithm in stabilizing a nonlinear robotic manipulator system, outperforming a benchmark funnel-based control approach.
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by Christos K. ... at arxiv.org 09-10-2024
https://arxiv.org/pdf/2409.04767.pdfDeeper Inquiries