Perturbed Integrators Chain Control via Barrier Function Adaptation and Lyapunov Redesign

TL;DR

This paper introduces an adaptive controller for perturbed integrator chains that combines Lyapunov redesign, barrier functions, and experimental validation on Furuta's pendulum to ensure stability despite uncertainties.

Contribution

It proposes a novel adaptive time-varying gain control method using barrier functions for perturbed integrator chains with unknown bounds, validated experimentally.

Findings

Successful stabilization of Furuta's pendulum under uncertainties.

Effective convergence within a predefined time.

Robustness against unknown perturbation bounds.

Abstract

Lyapunov redesign is a classical technique that uses a nominal control and its corresponding nominal Lyapunov function to design a discontinuous control, such that it compensates the uncertainties and disturbances. In this paper, the idea of Lyapunov redesign is used to propose an adaptive time-varying gain controller to stabilize a class of perturbed chain of integrators with an unknown control coefficient. It is assumed that the upper bound of the perturbation exists but is unknown. A proportional navigation feedback type gain is used to drive the system's trajectories into a prescribed vicinity of the origin in a predefined time, measured using a quadratic Lyapunov function. Once this neighborhood is reached, a barrier function-based gain is used, ensuring that the system's trajectories never leave this neighborhood despite uncertainties and perturbations. Experimental validation of the proposed controller in Furuta's pendulum is presented.