In this article, an adaptive practical tracking control scheme is presented for full-state constrained high-order nonlinear systems. By skillfully introducing the adaptive gain, nonlinear transformed functions and sign functions into control design, a novel continuous state-feedback controller is constructed without imposing restrictive approximation techniques and feasibility conditions. Under mild assumptions, the boundedness of all the closed-loop signals can be guaranteed, full-state constraints are not transgressed for all time, and the tracking error tends to an arbitrarily small region of zero in a finite time.

中文翻译：

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具有全状态约束的高阶非线性系统自适应实际跟踪的进一步结果


在本文中，提出了一种针对全状态约束高阶非线性系统的自适应实用跟踪控制方案。通过巧妙地将自适应增益、非线性变换函数和符号函数引入控制设计中，在不施加限制性逼近技术和可行性条件的情况下构造了一种新型连续状态反馈控制器。在温和的假设下，可以保证所有闭环信号的有界性，始终不违反全状态约束，跟踪误差在有限时间内趋于零的任意小区域。