Adaptive Control of Full-State Constrained High-Order Nonlinear Systems With Time-Varying Powers

Abstract

This article studies full-state constrained control for high-order nonlinear systems with unknown multiple time-varying powers and serious parameter unknowns. Due to the simultaneous existence of unknown powers and full-state constraints, we construct a log-type quadratic barrier Lyapunov function (BLF) rather than a quadratic Lyapunov function. By skillfully combining the log-type BLF, adding a power integrator technique and adaptive technique, an adaptive state feedback controller is developed. Under feasibility conditions, which are provided as sufficient conditions for the existence of proposed full-state constrained control, it is proved that all the signals of the closed-loop system are bounded, original system states converge to zero and full-state constraints are not violated.