Adaptive tracking control for nonlinear systems with asymmetric state-constraints in a finite prescribed time

H. F. Min and Shang Shi

International Journal of Systems Science, 2025, vol. 56, issue 10, 2209-2220

Abstract: This paper considers the open prescribed-time control for nonlinear systems with parametric uncertainty and asymmetric state-constraints. First, a new Lyapunov theorem is given for constrained nonlinear systems, which enables the system to converge in a prescribed time without violating constraints. Based on this theorem, an adaptive state-feedback controller is designed and analysed by introducing an asymmetric barrier Lyapunov function and a time-varying scaling function. It is proved that the closed-loop system is uniformly bounded, the state-constraints are not violated, and the tracking error can converge to the origin in any prescribed time independent of initial conditions. Finally, simulations and comparisons are provided for inverted pendulum system to demonstrate the effectiveness of the proposed control scheme.

Date: 2025
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DOI: 10.1080/00207721.2024.2441445

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