Adaptive stabilisation of output-constrained high-order nonlinear systems with high-order and low-order nonlinearities

AbstractThis paper investigates the adaptive stabilisation of output-constrained high-order nonlinear systems with more general high-order and low-order nonlinearities. By skilfully introducing nonlinear mappings, a key coordinate transformation, integral Lyapunov functions and the sign function into the adding a power integrator technique, and combining a novel analysis method, a continuous adaptive state-feedback controller is constructed. When the initial value of system states lies in the constrained set, it is rigorously proved that all the closed-loop signals are uniformly bounded, the asymmetric output constraint isn't transgressed, and the equilibrium point of the closed-loop system is uniformly asymptotically stable. A simulation example shows the effectiveness of this control scheme.Keywords: High-order nonlinear systemshigh-order and low-order nonlinearitiesasymmetric output constraintadaptive state-feedback stabilisation Disclosure statementNo potential conflict of interest was reported by the author(s).Additional informationFundingThis work was supported by the Taishan Scholar Project of Shandong Province of China [grant number tsqn202211132]; National Natural Science Foundation of China [grant number 62303263] and Natural Science Foundation of Shandong Province [grant number ZR2023QF009].