Robust Closed-Form Control for MIMO Nonlinear Systems under Generalized Conflicting Time-Varying Hard and Soft Constraints (extended version)

Abstract

This paper introduces a novel robust closed-form control law to handle time-varying hard and soft constraints in uncertain high-relative-degree nonlinear MIMO systems. These constraints represent spatiotemporal specifications in mechanical systems' operational space, with hard constraints ensuring safety-critical requirements and soft constraints encoding performance or task objectives. Initially, all constraints are consolidated into two separate scalar time-varying hard and soft constraint functions, whose positive level sets define feasible regions. A closed-form control law is developed to enforce these constraints using appropriately designed reciprocal barriers and nonlinear transformation functions. When conflicts between hard and soft constraints arise, the control law prioritizes hard constraints by virtually relaxing soft constraints via a dynamic relaxation law. Notably, the proposed control law maintains low complexity, avoiding approximation schemes for system uncertainties. Simulation results confirm the effectiveness of the proposed method.