Fixed-Time Fuzzy Adaptive Tracking Control of Full-State Constrained Nonlinear Systems with Unknown Virtual Control Coefficients
International Journal of Fuzzy Systems - Trang 1-16 - 2023
Tóm tắt
This paper studies the fixed-time fuzzy adaptive tracking control problem for a class of uncertain strict-feedback nonlinear systems with unknown virtual control coefficients (UVCCs), full state constraints and external disturbances. A novel barrier Lyapunov function is constructed to overcome the UVCCs and the state constraints simultaneously. Fuzzy-logic systems are implemented to approximate uncertain nonlinear functions of the system. Using fuzzy-logic systems and the first-order filter, the dynamic surface control is combined with backstepping design to tackle the problem of computational complexity. Based on the Lyapunov stability theory, a fixed-time fuzzy controller is designed such that not only the closed-loop system is practically fixed-time stable but also the tracking error converge to a small neighborhood of the origin. It is shown that the settling time of the proposed control method is independent of the initial conditions of the controlled system. At last, a simulation example of a single-link robot manipulator is given to demonstrate the effectiveness of the presented scheme.
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