Tracking error constrained adaptive dynamic surface control for a class of uncertain nonlinear systems

A Barrier Lyapunov Function (BLF)-based robust adaptive dynamic surface control (DSC) algorithm is proposed for tracking control of a class of uncertain nonlinear systems with symmetric tracking error constraints. The uncertainties include both of the linearly parameterized terms and the nonlinear function terms. The nonlinear function terms are assumed to satisfy a `triangularity condition' and handled by adaptive control methodology. The error constraints are characterized as a prescribed time-varying error bounding function, and a time-varying BLF is incorporated into adaptive DSC design to prevent constraints violation. It is shown that the obtained controller can achieve asymptotic tracking and ensure constraints satisfaction, and all closed loop signals remain bounded. A simulation study demonstrates the effectiveness of the proposed control.