BLF-based asymptotic tracking control for a class of time-varying full state constrained nonlinear systems

This paper presents an adaptive control based on a tan-type barrier Lyapunov function for time-varying state constrained strict-feedback nonlinear systems to achieve asymptotic output tracking. The design procedure is constructive and yields a continuous actual control law, which guarantees that asymptotic output tracking is achieved. Furthermore, we show that the time-varying full state constraints are not violated for all time and that all closed-loop signals are bounded provided that some conditions on the initial states and control parameters are satisfied. Three simulation examples are provided to illustrate the performance of the proposed control scheme. One is a comparison study simulation, another is a practical single-link robot system and the last is a three-order nonlinear system.