Adaptive Control and Applications
In this talk, a new control design is presented for a class of nonlinear systems in strict feedback form with output constraint, though our newly introduced - Barrier Lyapunov Function - which grows to infinity when its arguments approaches certain limiting values. The key principle is that, by ensuring boundedness of the Barrier Lyapunov Function in the closed loop, we also ensure that the barriers are not transgressed. Asymptotic tracking is achieved without violation of constraint, and all closed loop signals remain bounded, under a mild condition on the initial output. Finally, a brief review is made on different types of systems that I have been working on: industrial robots, autonomous robots, among others.