Abstract
In this paper, the output feedback problem is studied for a class of nonlinear cascade systems with integral input to state stability (iISS) inverse dynamics and an unknown control direction. The tan-type barrier Lyapunov function (UBLF) is introduced for an asymmetric time-varying output constraint, which can be equal to the standard Lyapunov function of an unconstrained system, thereby solving the requirement for the asymmetric time-varying output constraint. A design strategy based on backstepping is proposed to construct a dynamic output feedback control law, and an output feedback controller is designed using the barrier function. The proposed strategy satisfies the constraint condition while keeping all other closed-loop signals bounded. Finally, the effectiveness of the proposed strategy is proven by the simulation results.
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