Semi‐globally tracking control for uncertain non‐affine self‐restructuring systems with state constraints.

It is still an open problem to achieve tracking control with state constraints if the initial states are out of the constrained region. This underlying problem becomes more challenging if the system suffers from modeling uncertainties and external disturbances. In this paper, we investigate such problem for a class of uncertain nonaffine self‐restructuring systems subject to state constraints in the absence of any limitation on the initial values of states. In order to steer the original system states into the desired constraint region in finite time, certain auxiliary system is firstly constructed via introducing auxiliary variables. By resorting to some auxiliary nonlinear functions, the original system with state constraints is transformed into an unconstrained one in the sense that the constraint problem of the original system is equivalent to ensuring the stability of the transformed one. By following the backstepping design technique, an adaptive control scheme is developed that enables the states to enter into the constrained region for any initial point within any fixed time and then never violate it. All the closed loop signals are ensured to be semi‐globally uniformly ultimately bounded. Finally, one numerical simulation example is presented to verify the theoretical analysis. [ABSTRACT FROM AUTHOR]