Adaptive Control for Nonlinear MIMO Systems

In this paper, a command-filter-based adaptive fuzzy control strategy is proposed for a class of nonlinear multiple input and multiple output(MIMO) systems with full state constraints. The appropriate barrier Lyapunov function is employed to prevent the constraints violation, and the command-filtered back-stepping control method is proposed to remove the explosion of differentiation and lessen the computational burden. In addition, fuzzy logic system is employed to approximate the unknown nonlinear function, and the proposed compensating signals can make up for the error caused by the command filters. The proposed control strategy guarantees that all signals in the closed-loop system are semiglobal uniformly ultimately bounded by adjusting those designed system parameters. The simulation result is introduced to verify the effectiveness of the proposed control strategy.