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

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Abstract
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.
Funding Information
  • National Natural Science Foundation of China (61603170, 61573177, 61673243)
  • National Science Council, Taiwan (NSC 101-2221-E-011-077-MY3)
  • “Center for Cyber-Physical System Innovation” from the Featured Areas Research Center Program within the framework of the Higher Education Sprout Project by the Ministry of Education in Taiwan

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