Adaptive Fuzzy Dynamic Surface Control of State Constrained Nonlinear Systems with Actuators’ Saturation and Disturbances

This paper discusses an adaptive fuzzy dynamic surface control (DSC) problem for uncertain nonlinear systems subject simultaneously to full-state constraints (FSCs), actuators’ saturation, and bounded unmatched disturbances. Fuzzy logic systems (FLSs) are adapted to estimate uncertain model functions. Using the DSC concept, an adaptive fuzzy approximators-based control system is devised. The concern of system state constraints is carried out by employing an appropriate barrier Lyapunov function (BLF). The proposed control strategy ensures that the output tracking error practically converges to a tiny neighborhood around the origin, all the closed-loop system’ signals remain uniformly ultimately bounded (UUB), and no state constraints are transgressed. Finally, the effectiveness and practicability of the proposed control strategy are validated by a simulation example.