Adaptive Dynamic Surface Control for a Class of Parametric Nonlinear Systems With Extended Full State Constraints

ABSTRACT This paper addresses the tracking control problem for a class of constrained parametric nonlinear systems. By employing a constructed nonlinear mapping (NM), the system with time‐varying parameters and extended full‐state constraints is transformed into an unconstrained nonlinear system. Subsequently, the controller and adaptive law are designed using a modified dynamic surface control (DSC) approach. At each stage of the controller design, a compensating signal is introduced to mitigate the error resulting from the substitution of the linear filter's output for the derivative of the virtual control. This methodology reduces the difficulty of controller design and the complexity of stability analysis. The proposed control algorithm ensures the superior tracking performance while adhering to the extended full‐state constraints, and guarantees that all signals are semi‐global uniformly ultimately bounded (SGUUB). The effectiveness of the proposed control strategy is validated through stability analysis and numerical simulations.