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<p>This paper investigates the tracking control problem for fractional-order (FO) nonlinear systems with model uncertainties and external disturbances under full-state constraints. An adaptive fuzzy control strategy based on a command filter is proposed, where the asymmetric Barrier Lyapunov Function is adopted to ensure that the states do not violate their constraints, and a fuzzy logic system is used to approximate the unknown nonlinear terms. Additionally, a FO command filter is implemented to approximate the virtual control signals and their derivatives, effectively addressing the explosion of complexity problem, while an error compensation function is incorporated to compensate for the filtering errors. Overall, the stability analysis is conducted based on the Lyapunov method to ensure the boundedness of all signals. Ultimately, the performance of the proposed controller is demonstrated through two simulation examples.</p>

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Adaptive fuzzy command filtered control for uncertain fractional order nonlinear systems with full state constraints

  • 期刊论文

  • 出版模式：

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  • 发表日期：

    2025年2月7日

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  • Ruixia Liu,
  • Yang Han,
  • Lei Xing,
  • Liyang Sun

摘要

This paper investigates the tracking control problem for fractional-order (FO) nonlinear systems with model uncertainties and external disturbances under full-state constraints. An adaptive fuzzy control strategy based on a command filter is proposed, where the asymmetric Barrier Lyapunov Function is adopted to ensure that the states do not violate their constraints, and a fuzzy logic system is used to approximate the unknown nonlinear terms. Additionally, a FO command filter is implemented to approximate the virtual control signals and their derivatives, effectively addressing the explosion of complexity problem, while an error compensation function is incorporated to compensate for the filtering errors. Overall, the stability analysis is conducted based on the Lyapunov method to ensure the boundedness of all signals. Ultimately, the performance of the proposed controller is demonstrated through two simulation examples.