Adaptive Fuzzy Tracking Control of Switched MIMO Nonlinear Systems With Full State Constraints and Unknown Control Directions

Abstract

In this brief, an adaptive fuzzy tracking control method is proposed for switched multi-input multi-output (MIMO) nonlinear systems with time-varying full state constrains (TFSCs) and unknown control directions. First, the fuzzy logic systems are utilized to approximate unknown dynamic functions. A tangent barrier Lyapunov function (BLF-Tan) is used to solve the problem of TFSCs, and the unknown control directions problem is addressed by applying Nussbaum-type function. Then, an adaptive tracking controller is constructed by the backstepping technique. Under the designed control scheme, all the systems signals are derived to be bounded, and the tracking error of the systems is converged to a neighborhood near zero. Finally, the simulation example illustrates the control design programme is reasonable and effective.