Adaptive control for second order multi-input multi-output nonlinear systems with state and input constraints

In this paper, an adaptive control scheme is proposed for second order uncertain multi-input multi-output (MIMO) nonlinear systems with state and input constraints. The barrier Lyapunov function (BLF) and dynamic surface control (DSC) are combined such that the state constraints are not violated and the computation can be simplified. Moreover, to deal with the input constraint and the uncertainties in the system, the auxiliary design system and adaptive control technique are utilized. It is theoretically shown that all signals in the closed-loop system are bounded while the state and input constraints are not violated. Finally, the simulations on a numerical example and a practical spacecraft attitude control system are presented to illustrate the effectiveness of the proposed adaptive scheme.