Low-Complexity Control Under Input Saturation and Performance Constraints: A Bidirectional Modification Scheme

Abstract: This article addresses the output tracking control problem for a class of high-order uncertain highly-coupled MIMO nonlinear systems subject to input saturation and performance constraints. To resolve the problem, a bidirectional modification mechanism is constructed, which is able to not only relax the constraints when saturation occurs to alleviate potential conflict, but also accelerate the recovery of original constraints after saturation ceases, and further tighten the constraints to enhance control performance if saturation remains inactive at the steadystate phase. Based on the mechanism, a model-, approximationand complexity-explosion-free control scheme is proposed. To bypass the obstacle in Lyapunov analysis, a novel stability analysis framework is developed, which, given that two parameter selection conditions are met, ensures satisfaction of modified constraints and boundedness of all closed-loop signals. Simulation results validate the effectiveness and superiority of the methodology.