摘要：This paper proposes a new robust output-constrained control design technique for nonlinear Euler-Lagrange systems. In the control formulation, first, the imposed output are converted into equivalent error constraints. Then, an error transformation is introduced to transform the constrained error system into an unconstrained system. The controller is designed for the unconstrained system, which indirectly stabilizes the constrained system. It is shown that, without model uncertainties, the closed-loop system is asymptotically stable. Furthermore, in the presence of bounded uncertainties and external disturbances, the controller ensures the practical stability of the closed-loop system without violation of imposed output constraints. The uniformly ultimately bounded stability of the system is analyzed using barrier Lyapunov function based stability theory. The effectiveness of the proposed robust controller is illustrated through extensive simulation results.
关键词：Output-constrained Control;Robust Nonlinear Control;Constrained Control;Euler-Lagrange Systems
