ABSTRACT In this paper, the fuzzy adaptive tracking control problem is studied for a class of nonlinear strict feedback systems with time-varying full state constraints. For the full state constraints problem, the nonlinear transformation function is used to transform the constraint problem into a non-constraint problem. A new adaptive control framework is proposed for asymptotic tracking of nonlinear systems with unknown virtual control coefficients (UVCC). Under the proposed control scheme, the effects of UVCC and unknown nonlinear functions are compensated by the introduction of some well-defined smoothing functions and boundary estimation methods. In addition, a new Lyapunov function is constructed, which successfully achieves the tracking error of the closed-loop system converge to zero and all the signals in the closed-loop systems are bounded. In the meanwhile, all states are always keep in their asymmetric time-varying constraints. Finally, a numerical example is presented to show the effectiveness of the proposed control scheme.

中文翻译：

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具有全状态约束的不确定非线性系统的模糊自适应渐近跟踪

摘要 本文研究了一类具有时变全状态约束的非线性严格反馈系统的模糊自适应跟踪控制问题。对于全状态约束问题，利用非线性变换函数将约束问题转化为非约束问题。提出了一种新的自适应控制框架，用于对具有未知虚拟控制系数 (UVCC) 的非线性系统进行渐近跟踪。在所提出的控制方案下，通过引入一些明确定义的平滑函数和边界估计方法来补偿 UVCC 和未知非线性函数的影响。此外，构造了一个新的李雅普诺夫函数，成功地实现了闭环系统的跟踪误差收敛为零，并且闭环系统中的所有信号都是有界的。同时，所有状态始终保持在其非对称时变约束中。最后，给出了一个数值例子来说明所提出的控制方案的有效性。