Abstract
This paper presents a modified command filter backstepping tracking control strategy for a class of uncertain nonlinear systems with input saturation based on the convex optimization method and the adaptive fuzzy logic system control technique. Firstly, the effect of complex uncertainties is eliminated by introducing n command filters and a single fuzzy logic system (FLS). And then, the update laws of FLS weights are designed based on the convex optimization technique. Next, a new piece-wise continuous function is employed to deal with the input saturation problem. The closed-loop system performance is also analyzed using the Lyapunov stability theorem and the Lasalle invariant principle. Finally, simulation and experimental results are presented to show the effectiveness of our controller.
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