On-line approximation based control of uncertain nonlinear systems with magnitude, rate and bandwidth constraints on the states and actuators

This article presents a new method for on-line approximation based backstepping control in the presence of known magnitude, rate, or bandwidth constraints on the intermediate states or actuators. The presentation is based on developing the design and analysis for a second-order system - these results can be recursively extended to higher order systems. The new results allow on-line learning to continue even when known magnitude, rate, or bandwidth constraints are in effect, even though those constraints do not allow the control objectives to be met for the duration of those constraints.