Adaptive Unified Output Constraints Control for Uncertain Interconnected Nonlinear Systems With Unknown Measurement Drifts

Abstract

This article investigates the problem of unified output constraints for a class of uncertain interconnected nonlinear systems, where the measurement of system states is affected by unknown drifts in the powers of the measurement functions. Compared to previous works on output constraints, the main challenge addressed in this article is the unavailability of the true system states during the controller design process and the nondifferentiability of the sensor’s output functions. To achieve the control objectives, the following control scheme is proposed in this study. First, a novel barrier Lyapunov function is introduced, which is specifically designed to handle systems with unknown measurement drifts. This function can be uniformly applied to satisfy both scenarios of systems with or without output constraints. Second, the adding a power integrator (AAPI) technique and dynamic surface control (DSC) techniques are enhanced to effectively handle the unknown measurement drifts and avoid singularity problems in the controller design. The decentralized controller proposed in this article can realize that the outputs are strictly constrained within predefined boundaries and guarantees convergence of all system states to an arbitrarily small neighborhood. Finally, we provide two simulation examples to validate the effectiveness of our proposed control strategy.