Adaptive Fuzzy Tracking Control for a Class of Strict-Feedback Nonlinear Systems With Time-Varying Input Delay and Full State Constraints

作者：Tong Wang, Wu Ju, Yujia Wang, Min Ma · 发表于：IEEE Transactions on Fuzzy Systems · 年份：2019 · DOI：10.1109/tfuzz.2019.2952832 · 被引用次数：166 · 研究领域：Adaptive Control of Nonlinear Systems、Adaptive Dynamic Programming Control、Stability and Control of Uncertain Systems

This article investigates the adaptive fuzzy tracking control problem for a class of strict-feedback nonlinear systems with time-varying input delay and full state constraints. By using state vector transformation and barrier Lyapunov function techniques, the effect of time-varying input delay and full state constraints are compensated. The unknown nonlinear functions are approximated by utilizing fuzzy logic systems, and then a novel adaptive fuzzy backstepping control strategy is proposed to guarantee that the closed-loop nonlinear system is semiglobally ultimately uniformly bounded. Finally, two simulation examples of an inverted pendulum system and three-degrees-of-freedom helicopter nonlinear system are studied to verify the effectiveness of the proposed control strategy.