Adaptive fuzzy control for full states constrained systems with nonstrict-feedback form and unknown nonlinear dead zone

This paper addresses the problem of direct adaptive fuzzy tracking control design for a class of uncertain nonstrict-feedback systems with nonlinear dead zone and full state constraints. Fuzzy logic systems are used to approximate some unknown nonlinear functions and less adjustable parameters are adopted in each backstepping design process. This advantage is first to take into account the full state constrained nonstrict-feedback systems with input dead zone nonlinearity. To guarantee that the full state constraints are not violated, a novel adaptive fuzzy controller is developed by introducing Barrier Lyapunov Function with the error variables. Furthermore, it is proved that all the closed-loop signals remain semi-globally uniformly ultimately bounded and the tracking error converges to a small neighborhood of the origin. Two simulation examples are provided to verify the effectiveness of the proposed control method.