Abstract:A Barrier Lyapunov Function (BLF)-based robust adaptive dynamic surface control (DSC) algorithm is proposed for tracking control of a class of uncertain nonlinear systems with symmetric tracking error constraints. The uncertainties include both of the linearly parameterized terms and the nonlinear function terms. The nonlinear function terms are assumed to satisfy a 'triangularity condition' and handled by adaptive control methodology. The error constraints are characterized as a prescribed time-varying error … Show more
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