Fuzzy Adaptive Event-Driven Control Strategy and its Application in Ship Maneuvering System With Input Delay and Full-State Constraints
针对一类具有输入延迟、未知控制方向和全状态约束的随机非严格反馈系统，提出了一种事件驱动的模糊自适应控制策略，并通过船舶操纵系统验证了其有效性。
In this study, an event-driven fuzzy adaptive control strategy is introduced to address the tracking control problem in a class of stochastic nonstrict-feedback systems under conditions of input delay, unknown control directions and full-state constraints. First, a model for a class of stochastic nonlinear control systems is established based on a ship maneuvering system. Subsequently, the system model is generalized further to obtain more complex nonstrict-feedback systems with unknown control directions. Next, the system is preprocessed to facilitate the design of control strategy. Through the introduction of an intermediate variable, Pade approximation principle is employed and the impact of input delay is eliminated. Subsequently, a nonlinear mapping approach is employed to transform the issue of full-state constraints into an unconstrained problem. This circumvents the complexities caused by the utilization of barrier Lyapunov functions effectively. Furthermore, the principles of fuzzy approximation and adaptive control theory are introduced. Based on the properties of the exponential function, an event-triggered control strategy is designed meticulously to ensure the semiglobal boundedness of all signals in the closed-loop system.