Adaptive Fuzzy Control With High-Order Barrier Lyapunov Functions for High-Order Uncertain Nonlinear Systems With Full-State Constraints

This paper focuses on the practical output tracking control for a category of high-order uncertain nonlinear systems with full-state constraints. A high-order tan-type barrier Lyapunov function (BLF) is constructed to handle the full-state constraints of the control systems. By the BLF and combining...

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Bibliographic Details
Published in:IEEE transactions on cybernetics 2020-08, Vol.50 (8), p.3424-3432
Main Authors: Sun, Wei, Su, Shun-Feng, Wu, Yuqiang, Xia, Jianwei, Nguyen, Van-Truong
Format: Article
Language:English
Subjects:
Adaptive control
Adaptive systems
Adding a power integrator
Backstepping
barrier Lyapunov function (BLF)
Control systems design
full-state constraints
Fuzzy control
high-order nonlinear system
Liapunov functions
Lyapunov methods
Nonlinear control
Nonlinear systems
practical output tracking
Sun
Tracking control
Tracking errors
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Summary:This paper focuses on the practical output tracking control for a category of high-order uncertain nonlinear systems with full-state constraints. A high-order tan-type barrier Lyapunov function (BLF) is constructed to handle the full-state constraints of the control systems. By the BLF and combining a backstepping design technique, an adding a power integrator, and a fuzzy control, the proposed approach can control high-order uncertain nonlinear system with full-state constraints. A novel controller is designed to ensure that the tracking errors approach to an arbitrarily small neighborhood of zero, and the constraints on system states are not violated. The numerical example demonstrates effectiveness of the proposed control method.
ISSN:2168-2267
2168-2275
DOI:10.1109/TCYB.2018.2890256