Asymptotical Control Strategy for a Class of High-Order Nonlinear Systems With Multiple Uncertainties

Abstract

This study explores the issue of adaptive stabilization for a class of high-order uncertain nonlinear systems with asymmetric output constraint and zero dynamics. By combining skillful Barrier Lyapunov Function (BLF) with the technique of continuous feedback domination equipped with a group of integral functions including nested sign functions, a continuous state feedback stabilizer is established, which guarantees that the closed-loop system's states converge to zero asymptotically while keeping the asymmetric output restriction inviolate. Superior to the existing methods, the developed strategy can not only simultaneously cope with the output asymmetric constraints and dynamic uncertainties, but also unifies the the construction and theory analysis for the limited and unlimited output. At last, a numerical simulation is offered to verify the efficiency of the developed method.INDEX TERMS High-order nonlinear systems, dynamic uncertainty, asymmetric output constraint, zero dynamics.