An adaptive control approach based on the fuzzy systems for a class of uncertain nonlinear multi-input multi-output (MIMO) systems is presented in this paper. This class of systems is in the nested multiple coupling structure and their states are constrained in the corresponding compact sets. The properties of the system structure are inevitable to bring about a complicated design and a difficult task. The fuzzy logic systems are employed to approximate the unknown functions of systems, and the decoupling backstepping way is proposed to design the stability controller and adaptation laws. Barrier Lyapunov functions (BLFs) are constructed in the backstepping design to guarantee that the constraint bounds are not violated. Based on Lyapunov analysis in barrier form, we can prove the stability of the closed-loop system. Two simulation examples are viewed to verify the feasibility of the approach.

中文翻译：

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具有全状态约束的不确定非线性 MIMO 系统的基于自适应模糊跟踪控制的障碍函数及其在化学过程中的应用

针对一类不确定非线性多输入多输出(MIMO)系统，提出了一种基于模糊系统的自适应控制方法。此类系统处于嵌套的多重耦合结构中，其状态被约束在相应的紧集合中。系统结构的特性不可避免地带来了复杂的设计和艰巨的任务。采用模糊逻辑系统逼近系统未知函数，提出解耦反步法设计稳定性控制器和自适应律。障碍李雅普诺夫函数 (BLF) 在反步设计中构建，以确保不违反约束边界。基于势垒形式的李雅普诺夫分析，我们可以证明闭环系统的稳定性。