Adaptive Tracking Control for Partial State Constraints Nonlinear Systems With Dead-zone Input and Unknown Control Coefficients

This paper studies the adaptive tracking problem for lower triangular nonlinear systems with partial state constraints, dead-zone input, and unknown control coefficients. Using barrier Lyapunov functions, Nussbaum-type functions, and adaptive backstepping technique, a novel adaptive tracking control strategy is first proposed to solve the tracking problem. Under the proposed algorithm, it is shown that the tracking error remains in a small neighborhood of the origin, and partial states are ensured to remain in the predefined compact sets. Finally, a practical example is introduced to demonstrate the effectiveness of the proposed control strategy.