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1、INTERNATIONALJOURNALOFADAPTIVECONTROLANDSIGNALPROCESSINGInt.J.Adapt.ControlSignalProcess.2014;28:184199Publishedonline17May2013inWileyOnlineLibrary(wileyonlinelibrary.com).DOI:10.1002/acs.2410IndirectadaptivefuzzycontrolforinputandoutputconstrainednonlinearsystemsusingabarrierLyapunovfunctionYon
2、gmingLi1,2,3,TieshanLi1andXingjianJing2,*,1NavigationCollege,DalianMaritimeUniversity,Dalian,Liaoning,116026,China2DepartmentofMechanicalEngineering,HongKongPolytechnicUniversity,HungHom,Kowloon,HongKong3DepartmentofBasicMathematics,LiaoningUniversityofTechnology,Jinzhou,Liaoning,121001,ChinaSUM
3、MARYInthispaper,anovelindirectadaptivefuzzycontrollerisproposedforaclassofuncertainnonlinearsystemswithinputandoutputconstrains.Toaddressoutputandinputconstraints,abarrierLyapunovfunctionandanauxiliarydesignsystemareemployed,respectively.Theproposedapproachisexploredbyemployingfuzzylogicsystemst
4、otackleunknownnonlinearfunctionsandcombiningtheadaptivebacksteppingtechniquewithadaptivefuzzycontroldesign.Especially,thenumberoftheonlinelearningparametersarereducedto2nintheclosed-loopsystem.Itisprovedthattheproposedcontrolapproachcanguaranteethatallthesignalsintheclosed-loopsystemarebounded,a
5、ndtheinputandoutputconstraintsarecircumventedsimul-taneously.Anumericalexamplewithcomparisonsisprovidedtoillustratetheeffectivenessoftheproposedapproach.Copyright©2013JohnWiley&Sons,Ltd.Received30October2012;Revised29March2013;Accepted11April2013KEYWORDS:barrierLyapunovfunction;indirectadaptivef
6、uzzycontrol;inputandoutputconstraints;backsteppingdesign1.INTRODUCTIONItiswellknownthatfuzzylogicsystem(FLS)andNNhavebeenfoundtobeaparticularlypowerfultoolformodelinguncertainnonlinearsystemsduetotheiruniversalapproximationproperties.Inthepastdecades,theissuesofutilizingFLSstoapproximateunknownn
7、onlinearfunctionsofsys-temshavebeenwellinvestigated,seeforexample,[19]andthereferencestherein.Theuncertainnonlinearsystemsconsideredin[13]arerestrictedtosatisfythematchingconditions,thatis,theunknownfunctionsmustappearonthes
