Composite Boundary Structure-Based Tracking Control for Nonlinear State-Dependent Constrained Systems

In this paper, the tracking control problem is investigated for uncertain nonlinear multiple constrained systems. The constraints on tracking error and system states are considered as asymmetric, time-varying and state-dependent case, which is more general and appropriately unsolved at the present stage. To deal with constraint problem, an adaptive constraint control method based on composite boundary structure is proposed in this paper. The state-dependent mapping is introduced to ensure the tracking error and full system states within the asymmetric and state-dependent constraint regions without involved feasibility condition on virtual controllers. Meanwhile, the singularity problem caused by the constrained variables approaching the constraint boundaries is considered in this paper. The composite boundary structure is incorporated into controller design to avoid the control signals and adaptive laws tending to infinity. The advantage and availability of the developed control method are exhibited by simulation validation and results analysis.