ESO-based adaptive full state constraint control of uncertain systems and its application to hydraulic servo systems

In this paper, the control problem of a class of nonlinear systems with uncertainties and full state constraints is investigated and a full state constraint controller with parameter estimation and disturbance compensation is designed. Adaptive control for parametric uncertainties and extended state observer for uncertain nonlinearities are integrated into the barrier Lyapunov function-based full state constraint control via backstepping design,...