Global adaptive output regulation for nonlinear systems with full-state constraints

Abstract

ABSTRACT The paper investigates the global adaptive output regulation problem (ORP) for nonlinear systems with full-state constraints (FSCs). First, in order to avoid the disadvantages of barrier Lyapunov functions (BLFs) method and logarithmic constraint functions, radical constraint functions method is proposed to solve the FSCs problem of nonlinear systems. Second, a new internal model is designed based on the regulator equations. Third, the ORP of nonlinear systems is transformed into a stabilization problem. Then, according to the changing supply functions method and the Lyapunov analysis method, a non-backstepping control algorithm is proposed to ensure that all signals of the closed-loop system are globally asymptotically bounded, the tracking error is asymptotically stable, and all states of the system can be constrained. Finally, two simulation examples show the effectiveness of the control algorithm.