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Decentralized Constrained Tracking Control for Interconnected Nonlinear Systems with Interconnection and Input Delays

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Abstract

In this paper, a novel decentralized control approach is studied for interconnected nonlinear systems with unknown interconnection delays, uncertain input delays, and asymmetric full state dynamic constraints. The broad learning system (BLS) is introduced to approximate the unstructured uncertainties and a nonlinear observer is designed to identify the unmeasurable states. To guarantee the normal operation of the considered state constraints systems without any feasibility conditions, a unified barrier function (UBF) is developed. By utilized the command-filtered backstepping control technique, a decentralized constrained tracking control scheme is proposed. It is proved that all signals of the closed-loop stability and tracking performance could be guaranteed by the proposed control method and asymmetric full states dynamic constraints are not violated. Numerical simulation results are given to demonstrate the effectiveness of the proposed control method.

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Funding

This work was partially supported by the Postgraduate Research and Practice Innovation Program of Jiangsu Province, China (KYCX20-0823), National Key Research and Development Project (2019YFB1705803).

Author information

Authors and Affiliations

  1. College of Automation & College of Artificial Intelligence, Nanjing University of Posts and Telecommunications, Nanjing, 210023, China

    Zhifeng Gao & Donghao Liu

  2. College of Electrical Engineering and Control Science, Nanjing Tech University, Nanjing, 211816, China

    Moshu Qian

Authors
  1. Zhifeng Gao
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  2. Donghao Liu
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  3. Moshu Qian
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Corresponding author

Correspondence to Zhifeng Gao.

Additional information

Zhifeng Gao received his Ph.D. degree from Nanjing University of Aeronautics and Astronautics, China, in 2011. He is currently an Associate Professor with the Nanjing University of Posts and Telecommunications, China. His research interests include fault tolerant control with its application in nonlinear systems.

Donghao Liu received his B.Eng. degree from Nanjing University of Posts and Telecommunications, China, in 2019. Now he is currently pursuing a master’s degree in Nanjing University of Posts and Telecommunications. His research interests include fault tolerant control with its application in industry production systems.

Moshu Qian received her Ph.D. degree from Nanjing University of Aeronautics and Astronautics, China, in 2016. She is currently a Professor with Nanjing Tech University. Her research interests include robust control, fault diagnosis, fault-tolerant control, and their applications in nonlinear systems.

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Gao, Z., Liu, D. & Qian, M. Decentralized Constrained Tracking Control for Interconnected Nonlinear Systems with Interconnection and Input Delays. Int. J. Control Autom. Syst. 20, 1215–1225 (2022). https://doi.org/10.1007/s12555-021-0275-x

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  • DOI: https://doi.org/10.1007/s12555-021-0275-x

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