Asymmetric integral barrier Lyapunov function-based adaptive tracking control considering full-state with input magnitude and rate constraint

Abstract

This paper investigates the neural adaptive tracking control problem of a class of strict-feedback systems considering asymmetric full-state with input magnitude and rate constraint (MRC). By designing a dual-integral-type actual control law, the MRC on system input is transformed to be the magnitude limitations on the extended states of the original system, so the original system with both state and MRC considerations is converted to be a new system with only full-state constraint. Besides, compared with the traditional symmetric integral barrier Lyapunov function, new asymmetric integral barrier Lyapunov function is introduced to the dynamic surface-based controller design process in this paper for dealing with the asymmetric state constraint problem. It is analyzed that the original system is semi-globally uniformly ultimately bounded, and that the desired multiple constraints are never violated. The effectiveness of the control strategy is shown via numerical simulations.