Velocity-Adaptive Prescribed Performance Control for Carrier-Based Aircraft Based on Guardian Maps

Algorithm 1

Algorithm for seeking the center of the multiparametric feasible region.

Input: the initial parameter p₀, and the tolerance of parameter shift tole

Initialize the current parameter and the shift of parameter: p_c = p₀, d_p = 1.

While d_p > tole

  Initial the following trial parameter: p_n = p_c.

   For i = 1:dim(p_n)

    Calculate the null space of the i-th dimension based on p_n, and obtain the

     feasible region [p_l(i), p_u(i)].

    Update the value of the i-th dimension parameter as the middle value in the

     feasible region: p_n(i) = mean(p_l(i), p_u(i)).

   End

   Calculate the shift of the updated parameter: .

   Update the current parameter: p_c = p_n;

end

Output: the current parameter p_c.