Removing Feasibility Conditions on Adaptive Fuzzy Control of State-Constrained High-Order Nonlinear Systems
- Resource Type
- Conference
- Authors
- Wu, You; Xie, Xue-Jun
- Source
- 2020 39th Chinese Control Conference (CCC) Chinese Control Conference (CCC), 2020 39th. :264-269 Jul, 2020
- Subject
- Computing and Processing
Robotics and Control Systems
Signal Processing and Analysis
Nonlinear systems
Control design
Adaptive systems
Fuzzy control
Closed loop systems
Lyapunov methods
High-order nonlinear systems
full-state constraints
adaptive fuzzy control
feasibility conditions
- Language
- ISSN
- 1934-1768
This paper investigates adaptive fuzzy control for full-state constrained high-order nonlinear systems. Fuzzy systems are employed to approximate unknown system nonlinearities. By integrating nonlinear transformed functions into control design, full-state constraints can be handled without imposing feasibility conditions on virtual controllers. It is rigorously proved that fuzzy approximation is valid on a crucial compact set, full-state constraints aren’t violated for all time, and the tracking error converges to a small compact set around zero. A simulation example shows the effectiveness of this control scheme.