the Key Laboratory of Knowledge Automation for Industrial Processes of Ministry of Education School of Automation and Electrical Engineering University of Science and Technology Beijing Beijing 100083 China;
the Key Laboratory of Knowledge Automation for Industrial Processes of Ministry of Education School of Automation and Electrical Engineering University of Science and Technology Beijing Beijing 100083 China;
the Key Laboratory of Knowledge Automation for Industrial Processes of Ministry of Education School of Automation and Electrical Engineering University of Science and Technology Beijing Beijing 100083 China;
the Department of Electrical and Computer Engineering Missouri University of Science and Technology Rolla MO 65409 USA;
Asymmetric barrier Lyapunov function; input saturation; Nussbaum function; time-varying prescribed performance;