This article studies an adaptive backstepping barrier Lyapunov function-based control scheme for a class of multi-input and multi-output nonlinear systems in the presence of time-varying asymmetric full-state constraints and external disturbances. Simultaneously, a prominent feature of these systems is the unknown time-varying control direction. To stabilize such systems, Nussbaum gain technique is constructively framed to overcome the unknown control direction problem. To prevent that the constraints are overstepped, the time-varying asymmetric barrier Lyapunov functions are employed in each step of the backstepping design. The design involves an adaptive-based online approximator to cope with unknown dynamics of the system. A simulation example on aircraft skin inspection robot with three-dimensional trajectory is given to show the effectiveness of the proposed control scheme.
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