Further Results on Adaptive Practical Tracking for High-Order Nonlinear Systems With Full-State Constraints
针对全状态约束的高阶非线性系统，提出一种自适应实用跟踪控制方案，通过引入自适应增益和非线性变换函数，构造连续状态反馈控制器，保证闭环信号有界且跟踪误差在有限时间内收敛到任意小区域。
In this article, an adaptive practical tracking control scheme is presented for full-state constrained high-order nonlinear systems. By skillfully introducing the adaptive gain, nonlinear transformed functions and sign functions into control design, a novel continuous state-feedback controller is constructed without imposing restrictive approximation techniques and feasibility conditions. Under mild assumptions, the boundedness of all the closed-loop signals can be guaranteed, full-state constraints are not transgressed for all time, and the tracking error tends to an arbitrarily small region of zero in a finite time.