Dynamic surface control for a class of output-constrained nonlinear systems

This paper presents a constraints transformation-based robust adaptive DSC design for a class of semi-strict feedback nonlinear systems with output constraints. In the proposed approach, a constraints transformation technique is firstly introduced to transform the original constrained system into an unconstrained normal one. Subsequently, by using a decoupled dynamic surface control (DSC) methodology, the transformed system is stabilized and a systematic control strategy is thus developed. Through Lyapunov synthesis, it is shown that the proposed scheme can guarantee all the signals in the closed-loop system remain semi-globally uniformly ultimately bounded and the output converges to the desired trajectory asymptotically without violation of the constraints. The performance of the proposed control is illustrated through a simulation example.