Adaptive fuzzy tracking control for a class of time-varying output constrained nonlinear systems with non-affine nonlinear faults.

This paper investigates a tracking control issue for a class of time-varying output constrained nonlinear systems subject to non-affine nonlinear faults and virtual control coefficients. In the controller design process, the nonlinear function is approximated by fuzzy logic systems. Utilizing a feasible function to convert the system, a new transformation strategy is proposed to handle the system with time-varying output constraints or without output constraints. The mean value theorem is applied to split non-affine faults, and the Nussbaum-type function is used to eliminate the effect of the unknown directional affine variable gain of input resulted from non-affine faults. Combined with adaptive fuzzy backstepping technology and the error transformation function, a new control strategy is presented, which not only deals with the time-varying output constraint but also handles non-affine faults, effectively. Finally, all closed-loop system signals are bounded, and the tracking error can converge to a small preset set. Two simulations are performed to confirm the validity of the presented strategy.