Abstract:In this article, an adaptive safe control scheme is presented for tethered aircrafts subject to unknown disturbances, input saturations, and deferred asymmetric time‐varying output constraints. By integrating a shifting function into an asymmetric barrier Lyapunov function, the deferred asymmetric time‐varying output constraints are first solved. Then, to eliminate the conflict between input saturations and output constraints, an auxiliary system is designed to enlarge output constraint boundaries when input s… Show more
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