Adaptive Full-State-Constrained Control of Nonlinear Systems With Deferred Constraints Based on Nonbarrier Lyapunov...

Area of Science:

• Control Theory
• Nonlinear Systems
• Adaptive Control

Background:

• Tracking control for uncertain nonlinear systems is challenging.
• Full-state constraints, especially asymmetric and time-varying ones, complicate control design.

Purpose of the Study:

• To develop a novel adaptive robust full-state-constrained control scheme.
• To address deferred asymmetric time-varying full-state constraints in strict-feedback nonlinear systems.

Main Methods:

• A shifting function transforms the system with arbitrary initial values to one with zero initial values.
• A nonlinear transformation converts the constrained system into an unconstrained one, removing feasibility conditions.
• Backstepping recursion, first-order filters, and coordinate transformations are employed to design the controller.

Main Results:

• A stable closed-loop system is proven under the proposed control strategy.
• Numerical simulations demonstrate the effectiveness of the adaptive robust full-state-constrained control.

Conclusions:

• The developed control scheme effectively handles uncertain strict-feedback nonlinear systems with complex constraints.
• The proposed method offers a robust solution for tracking control problems with full-state constraints.