Adaptive control of nonlinear systems with full state constraints using Integral Barrier Lyapunov Functionals

In this study, a controller design for nonlinear strict feedback systems with full state constrains is presented. A backstepping stable controller is designed by using the Integral Barrier Lyapunov Functionals (iBLF). Compared with the previous designs, the systems are required to contain the unknown parameters. Under the backstepping control-based iBLF, the output tracking is well achieved without violation of any constraint and the closed loop signals are bounded. The stability of the closed-loop system is analyzed by using the Lyapunov theorem. Finally, a simulation example is used to verify the effectiveness of the proposed design.