A Low Complexity Adaptive Control for a Class of Nonlinear Systems Subject to State Constraints

In this paper, a new control framework is proposed for a class of nonlinear parametric strict feedback systems in the presence of state constraints. Different from the traditional techniques, an error transformation is implemented to guarantee that the full state constraints are not violated. It is proved that the stabilization of the transformed system is sufficient for the original system. To simplify the structure of the controller, a filter commander is designed to approximate the virtual input and its derivative. Besides, an auxiliary system is introduced to compensate for the effect of the approximate error. The designed controller can ensure the state within the limited range. Moreover, all of the signals in the closed-loop system are globally bounded. Simulation is provided to verify the effectiveness of the designed controller.