Partial-state feedback adaptive stabilization for a class of output-constrained nonlinear cascaded systems

This paper presents a robust adaptive stabilizing control scheme via partial-state feedback for a class of nonlinear cascaded systems with a time-varying output constraint. Different from the existing achievements, the nonlinear parameterization and unmeasured zero-dynamics are considered in this paper. The notion of input-to-state stability (ISS) and ISS-Lyapunov function are used to describe the zero-dynamics. The time-varying barrier Lyapunov function (TVBLF) is employed to ensure the output constraint satisfaction and the changing supply rates technique is used to deal with the unknown cascaded zero-dynamic states. It is shown that all the signals in the closed-loop system are bounded, and the asymptotic stabilization is achieved without violation of the output constraint. The performance of the proposed control scheme is illustrated through a simulation example. (c) 2022 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.