Adaptive Control for Nonlinear Systems under Discontinuous Output Constraints

In intricate and multifaceted engineering environments, system output may be limited by discontinuous constraints during system operation, and traditional methods are often inadequate to address this issue. This paper explores an adaptive control strategy specifically designed for nonlinear systems operating under discontinuous output constraints. To this end, we have meticulously constructed a novel shift function and a link function. These functions are engineered to effectively address the challenges posed by the discontinuous yet bounded nature of the output constraints at certain specific instants. The developed control strategy not only ensures that the system output strictly adheres to the discontinuous constraints, but also achieves good tracking performance under these constraints. Theoretical proofs and simulation results conclusively demonstrate the effectiveness of the proposed control strategy.