Adaptive tracking control for a class of constrained nonlinear systems with uncertainty

In this paper, we present adaptive tracking control designs for a class of constrained nonlinear systems with completely unknown constants. A Barrier Lyapunov Function (BLF) is adopted to protect this limit from being destroyed. By guaranteeing negative semi-definite of the BLF during the design process, we keep the constraint is not transgressed. Adaptive control is used to address the unknown constants of the systems. It is shown that the tracking error is asymptotic stable without breaking a desired boundary value, and all the closed-loop signals are bounded when a flexible initial condition is satisfied. At last, two numerical examples are provided to see if the method would be effective.