Prescribed Performance Adaptive Fuzzy Control for Affine Nonlinear Systems With State Constraints

This article considers the problem of prescribed performance control for a class of affine nonlinear systems with state constraints. Fuzzy logic systems (FLSs) are employed to cope with unknown nonlinear functions. In addition, an additive transformation and one-to-one mapping method are introduced to handle the control problem of nonlinear systems with full-state constraints. Then, based on adaptive backstepping control, we develop a new prescribed performance adaptive fuzzy control method, which not only makes the tracking error be constrained within the prescribed range but also ensures the other state variables do not violate the predefined constraints. The simulation example verify the feasibility of the control method.