Adaptive Fuzzy Control of Strict-Feedback Nonlinear Time-Delay Systems with Full-State Constraints

This paper addresses the issue of adaptive fuzzy tracking control in the case of strict-feedback nonlinear time-delay systems with full-state constraints. Design procedures of the state controller are provided based on the fuzzy systems which are adopted to identify the totally unknown package nonlinear functions and avoid burdensome computations properly. The main novelty of this paper is the delicate selection of tan-type barrier Lyapunov functions and Lyapunov–Krasovskii functionals to deal with state constraints and time-delay terms. The successful construction of an original simpler controller allows that the output tracking errors converge to a sufficiently small neighborhood of the origin, while the constraints on the system states will not be violated during operation. Finally, a benchmark example is given to demonstrate the effectiveness of the design scheme.