Asymptotic tracking control for state-constrained strict-feedback systems with non-vanishing uncertainties

This article proposes an asymptotic tracking control solution for a class of strict-feedback systems subject to asymmetric time-varying full-state constraints and non-vanishing uncertainties. Our method features with the complete rejection of the non-vanishing uncertainties rather than partial attenuation. This is done by the effective compensation of the extra residual terms produced by the non-vanishing uncertainties in the stability analysis by adding an adaptive term into the first-order filter. Our method also features with the removing of the feasibility conditions. Further, all internal signals are ensured to be bounded. The effectiveness of the proposed control scheme is confirmed via an illustrative example.