Adaptive Control for Uncertain Nonlinear Systems With Dynamic Full State Constraints: The SMDO Approach

Abstract

This article focuses on the adaptive control issue for uncertain nonlinear systems with time-varying full-state constraints. First, a novel integral barrier Lyapunov functions (IBLFs)-based neural backstepping control approach is designed, which circumvents the trouble of conversion in the traditional used BLFs. And then, the sliding-mode disturbance observers (SMDOs) are established to deal with the immeasurable disturbances in each order of the state-constrained uncertain nonlinear systems. Besides, the dynamic threshold-based event-sampling mechanism is constructed to deal with the sparsity of resources and system controlling burden. Finally, according to the given design approach, an event-triggered adaptive controller is developed and ensures disturbance observation errors uniformly converge to the origin in finite time, and all the signals in the closed-loop system are semiglobally uniformly ultimately bounded. A developed numerical simulation case verifies the validity of the proposed approach.