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<p>This paper is concerned with the adaptive tracking control issue for state-constrained switched nonlinear systems with time-varying delays. A novel state-dependent barrier function that purely depends on constrained states is presented to tackle state constraint issue, which completely removes the need of feasibility conditions of virtual controllers and circumvents the conservative design of converting state constraints into error related constraints. The presented function directly deals with the asymmetric constraint problem avoiding the use of segmentation functions, which simplifies the design process and stability analysis. Meanwhile, the scheme presented in this paper can be applied to the unconstrained case. Moreover, without imposing any assumptions on the delayed nonlinear functions, the time-varying delay terms are effectively managed by appropriately incorporating them into the Lyapunov–Krasovskii functional. An adaptive controller is designed to ensure that all signals of the closed-loop system are bounded. Finally, the validity of the proposed control scheme is confirmed via two simulation examples.</p>

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Removing feasibility conditions on tracking control for switched nonlinear systems with full-state constraints and time-varying delays

  • 期刊论文

  • 发表日期：

    2026年2月26日

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  • Jie Zhang,
  • Linchuang Zhang,
  • Hongjing Liang,
  • Yonghui Sun,
  • Meng Zhao

摘要

This paper is concerned with the adaptive tracking control issue for state-constrained switched nonlinear systems with time-varying delays. A novel state-dependent barrier function that purely depends on constrained states is presented to tackle state constraint issue, which completely removes the need of feasibility conditions of virtual controllers and circumvents the conservative design of converting state constraints into error related constraints. The presented function directly deals with the asymmetric constraint problem avoiding the use of segmentation functions, which simplifies the design process and stability analysis. Meanwhile, the scheme presented in this paper can be applied to the unconstrained case. Moreover, without imposing any assumptions on the delayed nonlinear functions, the time-varying delay terms are effectively managed by appropriately incorporating them into the Lyapunov–Krasovskii functional. An adaptive controller is designed to ensure that all signals of the closed-loop system are bounded. Finally, the validity of the proposed control scheme is confirmed via two simulation examples.