Asymptotic tracking control for time-delay nonlinear systems with parametric uncertainties and full state constraints

This article concentrates on an adaptive backstepping control design of time-delay strict-feedback uncertain nonlinear systems subject to full state constraints. The tan-type barrier Lyapunov functions (tBLFs) and Lyapunov-Krasovskii function are united together, which successfully get over the difficulties of system design in which the first function is involved to ensure full state constraints satisfaction and the second is established to eliminate the effect of delayed states. By employing a new control scheme, asymptotic tracking performance is arrived, and all the states remain in the desirable regions for all the system running time. Meanwhile, the boundedness of all signals of the closed-loop system is guaranteed. The performance of the control scheme is illustrated through a class of single degree of freedom (1-DOF) time-delay electrostatic microactuator systems.