Adaptive output feedback stabilisation control for cascaded systems with output constraints and disturbance

The system under consideration is a cascaded system composed of integral input-to-state stable inverse dynamics and a non-holonomic system. An adaptive output feedback stabilisation control is proposed for the system with disturbance and output constraints. The dynamic uncertainty is eliminated using the technique that changes the supply rate. An extended state observer is proposed by defining the non-vanishing disturbance as a new state variable of the system. The asymmetric time-varying output constraint is solved by utilising the tan-type barrier Lyapunov function. The result shows that the adaptive output feedback controller guarantees the stability of the closed-loop system without violating the asymmetric time-varying output constraints under the backstepping technique. Simulation results are given to verify the effectiveness of the control method.