Adaptive tracking control for stochastic nonlinear systems with asymmetric full state constraints

摘要

Abstract This article addresses the problem of adaptive tracking control for stochastic nonlinear systems with asymmetric full state constraints. Different from the traditional log‐type or tan‐type barrier Lyapunov functions (BLFs), a new asymmetric BLF is proposed in this article. Then, a state feedback controller is constructed with backstepping method so that all signals of the closed‐system are bounded and the asymmetric state constraint is well kept all the time. Without changing the structure of the controller, the design and the analysis for constrained and unconstrained systems are unified. Finally, the effectiveness of proposed control strategy has been demonstrated by simulations of numerical example and the single‐link robot arm model.