Fuzzy-based adaptive asymptotic tracking control design for uncertain MIMO nonlinear systems with state constraints

This article concentrates on designing an adaptive fuzzy asymptotic tracking control strategy for uncertain multi-input and multi-output (MIMO) nonlinear systems with state constraints and unknown virtual control coefficients (UVCCs). Such design apply the fuzzy logic systems to approximate unknown dynamics, and an asymptotic controller is recursively constructed by employing a bound estimation method and some smooth functions. The predefined state constrains are guaranteed by virtue of barrier Lyapunov function. Different from the reporting achievements, the restrictive assumption about the prior knowledge of UVCCs is removed in our context. By fusing the lower bounds of UVCCs into iterative Lyapunov functions, the stability of the controlled system is guaranteed. Finally, simulation example is conducted to exhibit the validity of theoretical findings.