Liu Lei, Chen Aiqing, Liu Yan-Jun
IEEE Trans Cybern. 2022 Aug;52(8):7340-7351. doi: 10.1109/TCYB.2021.3050510. Epub 2022 Jul 19.
This article investigates an adaptive fuzzy tracking control approach via output feedback for a class of switched uncertain nonlinear systems with full-state constraints under arbitrary switchings. The adaptive observer and controller are designed based on fuzzy approximation. The main characteristic of discussed systems is that the state variables are not available for measurement and need to be kept within the constraint set. In order to estimate the unmeasured states, the adaptive fuzzy state observer is constructed. To guarantee that all the states do not violate the time-varying bounds, the tangent barrier Lyapunov functions (BLF-Tans) are selected in the design procedure. Based on the common Lyapunov function method, the stability of considered systems is analyzed. It is demonstrated that all the signals in the resulting system are bounded, and all the states are limited in their constrained sets. Furthermore, the simulation example is used to validate the effectiveness of the presented control strategy.
本文研究了一类具有全状态约束的切换不确定非线性系统在任意切换下基于输出反馈的自适应模糊跟踪控制方法。基于模糊逼近设计了自适应观测器和控制器。所讨论系统的主要特点是状态变量不可测量，且需要保持在约束集内。为了估计不可测状态，构造了自适应模糊状态观测器。为保证所有状态不违反时变边界，在设计过程中选择了切线障碍Lyapunov函数（BLF-Tans）。基于共同Lyapunov函数方法，分析了所考虑系统的稳定性。结果表明，所得系统中的所有信号都是有界的，并且所有状态都限制在其约束集内。此外，通过仿真例子验证了所提出控制策略的有效性。
