This paper investigates the tracking control problem for uncertain nonlinear non-strict feedback systems (NSFSs) in the presence of full-state constraints and unmeasured disturbances. It is of great practical significance to realize the full-state constraint under disturbed conditions. In view of the non-strict feedback problem, a novel design framework of the state feedback control is given based on the newly proposed dynamic compensation system (DCS). Different from the traditional backstepping, the estimated signal based on the adaptive fuzzy system is indirectly introduced into the virtual and actual control laws through the DCS, which has the advantage of avoiding the algebraic-loop problem in NSFSs. Accordingly, the disturbance observer (DO) design method is improved based on this framework. Integrating the DCS into the DO design avoids the coupling problem between the disturbance and the unknown nonlinear function. An improved barrier Lyapunov function (BLF) is designed by introducing the concept of the inducible factor, and full-state constraints can be guaranteed after a transitional period for any initial state. By combining the DCS, the DO and the improved BLF, a novel adaptive fuzzy tracking control law is constructed, and all the signals in the closed-loop system are semiglobally uniformly ultimately bounded. Finally, the theoretical analysis and simulation results show that all states meet the corresponding constraints while meeting the stability.

本文研究了存在全状态约束和未测量扰动的不确定非线性非严格反馈系统（NSFS）的跟踪控制问题。实现扰动条件下的全态约束具有重要的现实意义。针对非严格反馈问题，基于新提出的动态补偿系统（DCS），给出了一种新的状态反馈控制设计框架。与传统的反步法不同，基于自适应模糊系统的估计信号通过DCS间接引入到虚拟和实际控制律中，具有避免NSFS中代数环问题的优点。相应地，基于该框架改进了扰动观测器（DO）的设计方法。将 DCS 集成到 DO 设计中可以避免干扰和未知非线性函数之间的耦合问题。通过引入可诱导因子的概念设计了改进的势垒Lyapunov函数（BLF），在任何初始状态的过渡期后都可以保证全状态约束。通过将DCS、DO和改进的BLF相结合，构建了一种新的自适应模糊跟踪控制律，使闭环系统中的所有信号半全局一致最终有界。最后，理论分析和仿真结果表明，所有状态在满足稳定性的同时满足相应的约束条件。在任何初始状态的过渡期之后，都可以保证全状态约束。通过将DCS、DO和改进的BLF相结合，构建了一种新的自适应模糊跟踪控制律，使闭环系统中的所有信号半全局一致最终有界。最后，理论分析和仿真结果表明，所有状态在满足稳定性的同时满足相应的约束条件。在任何初始状态的过渡期之后，都可以保证全状态约束。通过将DCS、DO和改进的BLF相结合，构建了一种新的自适应模糊跟踪控制律，使闭环系统中的所有信号半全局一致最终有界。最后，理论分析和仿真结果表明，所有状态在满足稳定性的同时满足相应的约束条件。