Decentralized Constrained Tracking Control for Interconnected Nonlinear Systems with Interconnection and Input Delays

In this paper, a novel decentralized control approach is studied for interconnected nonlinear systems with unknown interconnection delays, uncertain input delays, and asymmetric full state dynamic constraints. The broad learning system (BLS) is introduced to approximate the unstructured uncertainties and a nonlinear observer is designed to identify the unmeasurable states. To guarantee the normal operation of the considered state constraints systems without any feasibility conditions, a unified barrier function (UBF) is developed. By utilized the command-filtered backstepping control technique, a decentralized constrained tracking control scheme is proposed. It is proved that all signals of the closed-loop stability and tracking performance could be guaranteed by the proposed control method and asymmetric full states dynamic constraints are not violated. Numerical simulation results are given to demonstrate the effectiveness of the proposed control method.