In this paper, for uncertain nonlinear systems with time-varying full state constraints, input saturation and unknown control direction, time-varying asymmetric barrier Lyapunov functions, the auxiliary subsystem, and the Nussbaum gain technique are employed. It is shown that all the closed-loop signals are bounded in the semi-global sense, error signals converge to bounded compact sets, and time-varying full state constraints and input saturation are not violated.

中文翻译：

---

具有输入饱和度和未知控制方向的状态约束非线性系统的鲁棒自适应控制

在本文中，对于具有时变全状态约束、输入饱和和未知控制方向的不确定非线性系统，采用时变非对称势垒Lyapunov 函数、辅助子系统和Nussbaum 增益技术。结果表明，所有闭环信号在半全局意义上都是有界的，误差信号收敛到有界紧凑集，并且不违反时变全状态约束和输入饱和。