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Tracking Control of Uncertain Interconnected Time-delay Nonlinear Systems with Full State Constraints

This paper studies the tracking control problem for a class of uncertain interconnected nonlinear systems subject to deferred and asymmetric time-varying (DATV) delays. First, the case that system states are constrained at the very beginning is considered. It’s noting that this case is quite different from that the state constraints appear after the system running a period of time. Then, with combination of error-shifting technique and asymmetric barrier Lyapunov function, the proposed control scheme overcomes the DATV state constraints without requiring any initial conditions. Finally, a numerical example illustrates the effectiveness of the theoretical results.