Adaptive Fuzzy Control With Global Stability Guarantees for Unknown Strict-Feedback Systems Using Novel Integral Barrier Lyapunov Functions

In this article, the adaptive fuzzy tracking control problem for a class of uncertain strict-feedback systems with unknown nonlinearities is investigated with particular emphasis on global stability. The proposed control scheme is designed by integrating the barrier Lyapunov functions (BLFs) with th...

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Bibliographic Details
Published in:IEEE transactions on systems, man, and cybernetics. Systems man, and cybernetics. Systems, 2022-07, Vol.52 (7), p.1-13
Main Authors: Liu, Yong-Hua, Liu, Yang, Liu, Yu-Fa, Su, Chun-Yi
Format: Article
Language:English
Subjects:
Adaptive control
Adaptive fuzzy control
Approximation
Backstepping
Explosions
Feedback
Fuzzy control
Fuzzy logic
global stability
integral barrier Lyapunov function (iBLF)
Liapunov functions
Lyapunov methods
Mathematical analysis
Nonlinearity
Stability criteria
strict-feedback systems
Tracking control
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Summary:In this article, the adaptive fuzzy tracking control problem for a class of uncertain strict-feedback systems with unknown nonlinearities is investigated with particular emphasis on global stability. The proposed control scheme is designed by integrating the barrier Lyapunov functions (BLFs) with the techniques of fuzzy approximation and backstepping. The novel integral BLFs (iBLFs) are introduced to overcome the design difficulties induced by the virtual control coefficients and determine a priori the compact set for guaranteeing the validity of fuzzy approximation. Compared with existing approximation-based control results, the developed controller not only guarantees global stability without requiring prior information of system nonlinearities and assumptions on the time derivatives of virtual control coefficients, but also prevents the ``explosion of complexity'' issue without attaching additional filters. The simulation results further confirm the effectiveness of the theoretical findings.
ISSN:2168-2216
2168-2232
DOI:10.1109/TSMC.2021.3094975