Adaptive state-feedback control for nonlinear systems with input delay and state constraints

Abstract

This paper investigates the adaptive tracking control for more general nonlinear systems that encompass input delay, state constraints, and parameter uncertainty. Firstly, the parametric nonlinearities of the system are addressed by adaptive control and parameter separation technique. By integrating the Pade approximation method with the barrier Lyapunov function in a unified framework, the uncertainties arising from input delay and state constraints are effectively tackled. Then, an adaptive state-feedback control strategy is constructed based on the backstepping design procedure and rigorous stability analysis. It is verified that all the signals in the closed-loop system are uniformly ultimately bounded, the tracking error of the system converges to a compact set of the origin, and the system state constraints are never violated. Finally, the designed controller is applied to a single-link robot system to demonstrate the effectiveness of the proposed control strategy.