Adaptive control for uncertain nonlinear systems with state-function constraints and input delay. (English) Zbl 07736224
Summary: The adaptive control problem is studied for nonlinear systems with asymmetric full state-function constraints, unknown control gains, input delay and external disturbances in this paper. Firstly, the effect of input time delay is removed by using Laplace transform and Pade approximation. Then, Nussbaum function and fuzzy logic system (FLS) are recommended to dispose unknown control gains and unknown nonlinear functions, respectively. By incorporating barrier Lyapunov function (BLF) into the backstepping idea, a new adaptive fuzzy controller is presented such that the tracking error finally fluctuates near the origin and all signals of the closed-loop system are bounded. Meanwhile, the asymmetric full state-function constraints do not violate. Ultimately, a numerical example is used to explain the feasibility of the devised control scheme.
MSC:
| 93C40 | Adaptive control/observation systems |
| 93C10 | Nonlinear systems in control theory |
| 93C42 | Fuzzy control/observation systems |
| 93C41 | Control/observation systems with incomplete information |
Keywords:
fuzzy logic system; adaptive control; input delay; unknown control gains; asymmetric state-function constraintsReferences:
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