Multi-Variable Constrained Control for High-Order Fully Actuated Nonlinear Systems
摘要
Expanding on the constrained control techniques from the previous chapter, this chapter addresses multi-variable HOFA nonlinear systems with uncertainties. These systems often involve multiple interacting subsystems, requiring coordinated control while respecting constraints. We introduce a novel control strategy that integrates command filtered control with HOFA system theory, managing multi-variable interactions and addressing uncertainties using radial basis function neural networks.