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

被引：133

作者：

Wang, Tong ^{[1
]}

Wu, Ju ^{[1
]}

Wang, Yujia ^{[1
]}

Ma, Min ^{[1
]}

机构：

[1] Harbin Inst Technol, Res Inst Intelligent Control & Syst, Harbin 150080, Peoples R China

来源：

IEEE TRANSACTIONS ON FUZZY SYSTEMS | 2020年 / 28卷 / 12期

基金：

中国国家自然科学基金; 中国博士后科学基金;

关键词：

Nonlinear systems; Delays; Fuzzy logic; Adaptive systems; Time-varying systems; Fuzzy control; Backstepping; Adaptive fuzzy control; backstepping; full state constraints; strict-feedback nonlinear systems; time-varying input delay; BARRIER LYAPUNOV FUNCTIONS; NETWORKED CONTROL-SYSTEMS;

D O I：

10.1109/TFUZZ.2019.2952832

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

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.

引用

页码：3432 / 3441

页数：10

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