Adaptive asymptotic tracking control of constrained nonlinear MIMO systems subject to unknown hysteresis input: A novel network-based strategy

Abstract

This paper presents a referential adaptive asymptotic tracking control scheme for nonlinear multi-input and multi-output (MIMO) systems with time-varying full-state constraints and unknown hysteresis input. In order to achieve good asymptotic tracking effect, a zero-limit positive continuous function is introduced into the adaptive backstepping design process while thoroughly considering the impact of disturbance-like terms on the tracking effect. Additionally, a new variable is also imported to replace the reciprocal of unknown coefficient of the Bouc–Wen hysteresis model. Then, a new adaptive law about the new variable is added by combining the positive function, which can not only lessen the impact of the unknown hysteresis input on the tracking effect, but also avoid the “singularity” problem. Aiming at the time-varying full-state constraints, a appropriate time-varying log-type barrier Lyapunov function (TLBLF) is constructed to ensure that all the states of the system are restricted within the constraint scope. Finally, a significant adaptive asymptotic tracking scheme is designed based on multi-dimensional Taylor network (MTN) approximation technology. Apart from achieving high-precision asymptotic tracking performance, the proposed scheme ensures the boundedness of all signals of the closed-loop system without violating the full-state constraints. And, three simulations are given to verify the effectiveness of the scheme.