In this paper, a robust state-constrained control algorithm is proposed by introducing time-varying barrier Lyapunov functions (BLF) for nonlinear systems with uncertainties. Novel time-varying symmetric/asymmetric forms of error barrier functions are investigated in order to relax the requirements of the initial state compared with existing BLF-based literatures. By integrating the proposed time-varying BLF method with the backstepping technique, constraint satisfaction is achieved and signals in closed-loop are uniform asymptotically stable. In addition, the extended state observer technique is utilized to prevent the constraint violation during the transient phase and strengthen the robustness of the control system in the presence of uncertainties. Numerical simulations are implemented to illustrate the attitude tracking performance obtained from the proposed method for a homing missile with angle of attack constraint, parametric uncertainties and external disturbances.
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