Observer-based finite-time fuzzy adaptive control for MIMO non-strict feedback nonlinear systems with errors constraint

摘要

This paper studies the problem of fuzzy adaptive finite-time output feedback control for a class of multi-input and multi-output (MIMO) nonlinear systems with errors constraint and unknown dead zone. In control design, the fuzzy logic systems (FLSs) are adopted to approximate the unknown nonlinear functions and a state observer is constructed to estimate the unmeasurable states. The simplified barrier Lyapunov function (SELF) and performance function are considered to solve the problem of errors-constraint. Combining backstepping design with prescribed performance technique, an observer-based finite-time adaptive fuzzy control scheme is presented. The presented control scheme not only guarantees that all signals of the closed-loop system are bounded, but also ensures that tracking errors converge to a small neighborhood of the zero within the prescribed performance bounded. Finally, a numerical example is provided to elaborate the effectiveness of the presented control scheme. (C) 2019 Elsevier B.V. All rights reserved.