Adaptive Fuzzy Control for Nonstrict-Feedback Systems Under Asymmetric Time-Varying Full State Constraints Without Feasibility Condition

Abstract

This article addresses an adaptive fuzzy control for the nonstrict-feedback nonlinear systems with asymmetric time-varying full state constraints. To prevent the state constraints being violated, the nonlinear state-dependent function (NSDF) is introduced instead of the tradition barrier lyapunov function (BLF). The constrained systems are transformed into a novel free-constrained systems based on the NSDF. A direct approach is given to cope with the state constraints. Fuzzy logic system is utilized to approximate the uncertain nonlinear system functions. The new affine variables are constructed for the transformed systems, and the prior knowledge of the control gains is not required necessarily. Under the designed control scheme, the boundedness of the signals in the closed-loop systems is guaranteed certainly, and the asymmetric time-varying constraints are maintained. This proposed method removes the feasibility condition on the virtual controller derived from the method of BLF. The effectiveness of the proposed control strategy is verified by two simulation examples.