Input Constrained Non-Equilibrium Transient Trajectory Shaping Control for a Class of Nonlinear Systems

In this paper, a non-equilibrium transient trajectory shaping (NETTS) nonlinear control method is presented for a class of single-input-single-output (SISO) strict feedback nonlinear systems, with the control input magnitude and rate of change constraints being considered. Based on a set of Barrier Lyapunov Functions with an input signal constraint pre-estimation mechanism, the non-equilibrium transient trajectory shaping control technique can render the system tracking error transient trajectory travels within a shaped boundary while approaching zero. In such a method, by choosing the chain of barriers and the converging speed properly, the control input magnitude constraint can be met. Control signal continuous approximation and switching buffer size design methods are given as well to accommodate the input rate of change limit. Through a numerical example, the effectiveness of the proposed NETTS control technique is demonstrated by comparisons with different control algorithms.