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This paper investigates the adaptive state-feedback stabilisation for a class of output-constrained high-order nonlinear systems with integral input-to-state stability (iISS) inverse dynamics. The presence of weaker iISS inverse dynamics and parametric uncertainty makes the output-constrained systems in question essentially different from those in the related works. By integrating the tan-type barrier Lyapunov function, sign function and integral Lyapunov functions into the adding a power integrator technique, and choosing the appropriate designed functions and parameter update laws, a unified adaptive state-feedback controller, which can deal with both constrained and unconstrained systems, is constructed. It is proved that all the closed-loop signals are bounded, the symmetric output constraint is not violated, and system states converge to zero asymptotically. Finally, a simulation example is given to illustrate the effectiveness of this control scheme.

Adaptive state-feedback stabilisation of output-constrained high-order nonlinear systems with iISS inverse dynamics