中国科学院自动化研究所机构知识库

This article investigates the adaptive fuzzy tracking control design for uncertain nonstrict-feedback nonlinear systems with time-varying constraints and asymmetric input saturations. It is known that time-varying output constraint, time-varying error constraints, and input saturations are commonly seen issues in many practical engineering systems due to inherent physical limitations and performance requirements. To deal with these problems and improve the convergence rate of the control system, a novel fixed-time convergent adaptive fuzzy control scheme is proposed for the considered uncertain nonlinear systems via the time-varying barrier Lyapunov function (BLF) technique. First, to deal with the unknown nonlinearities and uncertainties in the system dynamic model, fuzzy logic systems are utilized to approximate the unknown functions of the considered model. Then, the problem of asymmetric input amplitude and rate saturations is handled by constructing a unified smooth characterizing function and an innovative auxiliary design signal system. Subsequently, considering physical limitations and performance requirements, a novel time-varying BLF-based adaptive fuzzy backstepping control scheme is designed for the uncertain nonstrict-feedback nonlinear systems to realize superior tracking performances and keep the states staying in predefined time-varying compact regions during operations. Further, rigorous theoretical analyses have been conducted to show that the proposed control scheme achieves fixed-time convergence of all signals in the closed-loop control system. Finally, representative simulation results verify the effectiveness of the proposed control scheme.