Adaptive Fuzzy Preassigned Finite-Time Tracking of High-Order Nonlinear Systems With Full-State Constraints

Abstract

This paper investigates adaptive fuzzy preassigned finite-time tracking control for high-order nonlinear systems with full-state constraints. Fuzzy systems are utilized to remove frequently-used growth assumptions on completely unknown non-linearities. By integrating nonlinear transformed functions with a key coordinate transformation into control design, full-state constraints can be handled without imposing feasibility conditions in traditional barrier Lyapunov function-based methods. It is rigorously proved that the states of fuzzy systems remain within a specific compact set, on which fuzzy approximation is valid. Besides, asymmetric full-state constraints aren’t violated for all time, and the tracking error converges to the prescribed small region around zero in a preassigned finite-time. A simulation example shows the effectiveness of this control scheme.