Adaptive Fuzzy Control for Nonstrict-Feedback Systems With Input Saturation and Output Constraint
针对一类不确定非严格反馈系统，提出一种自适应模糊控制方法，通过变量分离、辅助系统和障碍李雅普诺夫函数解决输入饱和与输出约束问题，保证闭环系统稳定性并实现跟踪误差收敛。
This paper presents an adaptive fuzzy control approach for a category of uncertain nonstrict-feedback systems with input saturation and output constraint. A variable separation approach is introduced to overcome the difficulty arising from the nonstrict-feedback structure. The problem of input saturation is solved by introducing an auxiliary design system, and output constraint is handled by utilizing a barrier Lyapunov function. Combing fuzzy logic system with the adaptive backstepping technique, the semi-global boundedness of all variables in the closed-loop systems is guaranteed, and the tracking error is driven to the origin with a small neighborhood. The stability of the closed-loop systems is proved, and the simulation results reveal the effectiveness of the proposed approach.