Fuzzy Observer Constraint Based on Adaptive Control for Uncertain Nonlinear MIMO Systems With Time-Varying State Constraints

This article presents an adaptive output feedback approach of nonlinear multi-input-multi-output (MIMO) systems with time-varying state constraints and unmeasured states. An adaptive approximator is designed to approximate the unknown nonlinear functions existing in the state-constrained systems with immeasurable states. To deal with the tracking problem of such systems, a state observer with time-varying barrier Lyapunov functions (BLFs) is introduced in the controller design procedure. The backstepping design with time-varying BLFs is utilized to guarantee that all system states remain within the time-varying-constrained interval. The constant constraint is only the special case of the time-varying constraint which is more general in the real systems. The proposed control approach guarantees that all signals in the closed-loop systems are bounded and the tracking errors converge to a bounded compact set, and time-varying full-state constraints are never violated. A simulation example is given to confirm the feasibility of the presented control approach in this article.