Balanced control between performance and saturation for constrained nonlinear systems

TL;DR

This paper proposes a novel control strategy for constrained nonlinear systems that balances performance and saturation effects by using a performance safety evaluation function to enhance system safety and recovery.

Contribution

It introduces a performance safety evaluation framework and a compensation mechanism to balance performance and saturation constraints in nonlinear control systems.

Findings

Effective balancing of performance and saturation constraints demonstrated

The proposed method improves system safety under saturation effects

Numerical simulations validate the control strategy's effectiveness

Abstract

This paper addresses the balanced control between performance and saturation for a class of constrained nonlinear systems, including the branches: balanced command filtered backstepping (BCFB) and balanced performance control (BPC). To balance the interconnection and conflict between performance and saturation constraints, define a performance safety evaluation (PSE) function, which evaluates the system safety under the destabilizing effect variables (DEVs) like saturation quantity and filter errors, then the cumulative effects of DEVs are fully utilized and compensated for the performance recovery. Specifically, there exists some degree of tolerance for the DEVs in the safety region, and the compensation operation works when the evaluation of the system goes dangerous. The advantages of the proposed methodology are illustrated in the numerical simulation.