A Compatible Control Scheme Integrated Common Operation with Active Safety Constraint for Nonlinear Systems

Crossing safety boundary is strictly prohibited to ensure operation safety of a practical system. Common operation and extreme safety control are generally considered as two separated processes, and from the point view of general control design, it is challenging to develop a compatible framework which is able to combine them together for a nonlinear system. In this work, an active safety constraint based adaptive tracking control scheme is developed, in which the safety boundary condition is directly introduced into control design, such that the closed-loop system never exceeds its safety limit during the whole operation process, at the same time the objective of normal tracking control is guaranteed. Both theoretical analysis and numerical simulations validate effectiveness of the proposed control method.