TABLF-based adaptive control for uncertain nonlinear systems with time-varying asymmetric full-state constraints

ABSTRACT

In this paper, we investigate the tracking control problem for a class of strict-feedback nonlinear systems with parametric uncertainties and time-varying asymmetric full-state constraints. By introducing novel tan-type time-varying asymmetric barrier Lyapunov function (TABLF) in each step of backstepping design, the boundedness of the fictitious state tracking errors are ensured. A novel adaptive backstepping control design based on tuning function is given, which successfully eliminates the effect of uncertainties. In addition, only one parameter needs to be adjusted online in the control design, which greatly alleviates the computation burden. Based on the proposed control scheme the asymptotic convergence of system output tracking error is realised and the time-varying full-state constraints are not violated for all the time. A numerical example is given to illustrate the effectiveness of the proposed control scheme.

KEYWORDS:

• Time-varying full-state constraints
• barrier Lyapunov function
• strict-feedback nonlinear system
• adaptive backstepping control

Disclosure statement

No potential conflict of interest was reported by the authors.

ORCID

Chunxiao Wang  http://orcid.org/0000-0002-8387-5923

Additional information

Funding

This work is supported in part by the National Natural Science Foundation (NNSF) of China [grant numbers 61803228, 61673243, 61803229, and 61703232]. Natural Science Foundation of Shandong Province of China [grant number ZR2017QF013], Project of Shandong Province Higher Educational Science and Technology Program [grant number J18KA361].