Focusing on the problem of position tracking control for permanent magnet synchronous motors (PMSMs) with full-state constraints, this article proposes an adaptive fuzzy control scheme based on command filtering error compensation mechanism. Firstly, the unknown nonlinear functions of PMSM drive systems are approximated by utilizing the fuzzy logic systems (FLSs). Then, the command filtering technique is employed to deal with the “explosion of complexity” problem arising from conventional backstepping scheme, and the filtering errors are reduced by the error compensation mechanism. In addition, the barrier Lyapunov functions (BLFs) are constructed to guarantee that the state variables are restricted in compact bounding sets. Finally, simulation results show the effectiveness of the proposed scheme.

针对具有全状态约束的永磁同步电动机（PMSM）的位置跟踪控制问题，提出了一种基于指令滤波误差补偿机制的自适应模糊控制方案。首先，利用模糊逻辑系统（FLS）对永磁同步电机驱动系统的未知非线性函数进行逼近。然后，采用命令过滤技术来处理常规反推方案引起的“复杂性爆炸”问题，并通过误差补偿机制来减少过滤误差。此外，屏障Lyapunov函数（BLF）的构造可确保状态变量在紧凑边界集中受到限制。最后，仿真结果表明了该方案的有效性。