Output-constrained finite-time tracking control for strict-feedback nonlinear systems

This work investigates the adaptive finite-tune tracking problem for a class of strict-feedback nonlinear systems with parametric uncertainties and symmetric constant output constraint. A tan-type Barrier Lyapunov Function (BLF) is proposed to ensure the boundedness of the output tracking error, and a new tuning function is given to eliminate the effect of uncertainties. It is theoretically shown that the control scheme not only can assure the finite-time convergence of system output tracking error into a small set around zero but also can guarantee that the output constraint is not overstepped. The effectiveness of the proposed finite-time control scheme is further verified with a numerical example.