Control of nonlinear systems with full state constraints using integral Barrier Lyapunov Functionals

摘要

In this paper, we present controller design for strict feedback nonlinear systems with full state constrains. An Integral Barrier Lyapunov Functionals (iBLF) is employed to obtain the adaptation law and the controllers. Compared with existing methods, the unknown parameters are considered in the system. Under the proposed iBLF-based control, we show that tracking errors are achieved without violation of any constraint and the closed loop signals remain bounded. The stability of the closed-loop system is proven by using the Lyapunov theorem.