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Volume 8 Issue 3
Mar.  2021

IEEE/CAA Journal of Automatica Sinica

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Wei Zhao, Yanjun Liu and Lei Liu, "Observer-Based Adaptive Fuzzy Tracking Control Using Integral Barrier Lyapunov Functionals for A Nonlinear System With Full State Constraints," IEEE/CAA J. Autom. Sinica, vol. 8, no. 3, pp. 617-627, Mar. 2021. doi: 10.1109/JAS.2021.1003877
Citation: Wei Zhao, Yanjun Liu and Lei Liu, "Observer-Based Adaptive Fuzzy Tracking Control Using Integral Barrier Lyapunov Functionals for A Nonlinear System With Full State Constraints," IEEE/CAA J. Autom. Sinica, vol. 8, no. 3, pp. 617-627, Mar. 2021. doi: 10.1109/JAS.2021.1003877

Observer-Based Adaptive Fuzzy Tracking Control Using Integral Barrier Lyapunov Functionals for A Nonlinear System With Full State Constraints

doi: 10.1109/JAS.2021.1003877
Funds:  This work was supported in part by the National Natural Science Foundation of China (62025303, 61973147), and in part by the LiaoNing Revitalization Talents Program (XLYC1907050)
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  • A new fuzzy adaptive control method is proposed for a class of strict feedback nonlinear systems with immeasurable states and full constraints. The fuzzy logic system is used to design the approximator, which deals with uncertain and continuous functions in the process of backstepping design. The use of an integral barrier Lyapunov function not only ensures that all states are within the bounds of the constraint, but also mixes the states and errors to directly constrain the state, reducing the conservativeness of the constraint satisfaction condition. Considering that the states in most nonlinear systems are immeasurable, a fuzzy adaptive states observer is constructed to estimate the unknown states. Combined with adaptive backstepping technique, an adaptive fuzzy output feedback control method is proposed. The proposed control method ensures that all signals in the closed-loop system are bounded, and that the tracking error converges to a bounded tight set without violating the full state constraint. The simulation results prove the effectiveness of the proposed control scheme.

     

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    Highlights

    • So as to handle the full state constraints better, a new iBLF is constructed in this paper. By adopting iBLF, not only is the problem of full state constraints solved, but also the state is directly constrained, which avoids the known conservative condition of the transition error.
    • The fuzzy adaptive observer is constructed to deal with the unknown states of nonlinear system. What is more, combining iBLF with backstepping methods, and using the properties of fuzzy basis functions and bounded control design technology, an adaptive fuzzy output feedback control based on observer is proposed.
    • The adaptive output feedback strategy proposed in this paper can not only ensure that the signal in the closed-loop system is bounded, but also the observer error and tracking error converge to zero in a small neighborhood. Simulation results prove the effectiveness of the proposed control scheme.

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