摘要
This paper considers the adaptive neuro-fuzzy control scheme to solve the output tracking problem for a class of strict-feedback nonlinear systems.Both asymmetric output constraints and input saturation are considered.An asymmetric barrier Lyapunov function with time-varying prescribed performance is presented to tackle the output-tracking error constraints.A high-gain observer is employed to relax the requirement of the Lipschitz continuity about the nonlinear dynamics.To avoid the"explosion of complexity",the dynamic surface control(DSC)technique is employed to filter the virtual control signal of each subsystem.To deal with the actuator saturation,an additional auxiliary dynamical system is designed.It is theoretically investigated that the parameter estimation and output tracking error are semi-global uniformly ultimately bounded.Two simulation examples are conducted to verify the presented adaptive fuzzy controller design.
基金
supported in part by the National Natural Science Foundation of China(61903028,62073030)
in part by the China Post-Doctoral Science Foundation(2019M660463)
in part by the Fundamental Research Funds for the China Central Universities of University of Science and Technology Beijing(FRF-TP-18-031A1,FRF-BD-19-002A)
in part by the Postdoctor Research Foundation of Shunde Graduate School of University of Science and Technology Beijing(2020BH002)。
