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Command Filter-Based Adaptive Fuzzy Self-Triggered Control for MIMO Nonlinear Systems with Time-Varying Full-State Constraints

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Abstract

This paper focuses on the adaptive fuzzy self-triggered tracking controller design for full-state constrained multiple-input and multiple-output nonlinear systems. The implementation of the control scheme is categorized into three steps: (1) restricting the states to satisfy the corresponding constraints; (2) handling the explosion of complexity; and (3) achieving a better compromise between system performances and communication loads. First, tangent barrier Lyapunov functions are applied to constrain the outputs and system states within time-varying boundaries. Then, the explosion of complexity is addressed via the command filtering method. Furthermore, an adaptive self-triggered control mechanism is developed to reduce resource consumption for each subsystem. In addition to solving the problem of monitoring the triggering threshold continuously, the designed adaptive self-triggered mechanism allows the triggering intervals to be dynamically adjusted according to the tracking errors, which makes the proposed control protocol possible to coordinate the system performances and communication resources. By using the Lyapunov stability criterion, it is demonstrated that all signals of the closed-loop systems are semi-globally uniformly ultimately bounded. Finally, two simulation examples are presented to confirm the effectiveness of the proposed control approach.

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Acknowledgements

This research work was funded by Institutional Fund Projects under grant no. (IFPIP: 794-135-1443). The authors gratefully acknowledge technical and financial support provided by the Ministry of Education and King Abdulaziz University, DSR, Jeddah, Saudi Arabia.

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Authors and Affiliations

  1. College of Control Science and Engineering, Bohai University, Jinzhou, 121013, Liaoning, China

    Sai Huang

  2. School of Control Science and Engineering, Tiangong University, Tianjin, 300387, China

    Guangdeng Zong

  3. College of Mathematical Science, Bohai University, Jinzhou, 121013, Liaoning, China

    Huanqing Wang

  4. Faculty of Electronic Information and Electrical Engineering, Dalian University of Technology, Dalian, 116024, Liaoning, China

    Xudong Zhao

  5. Communication Systems and Networks Research Group, Department of Electrical and Computer Engineering, Faculty of Engineering, King Abdulaziz University, Jeddah, Saudi Arabia

    Khalid H. Alharbi

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  1. Sai Huang
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  2. Guangdeng Zong
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Correspondence to Sai Huang.

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Huang, S., Zong, G., Wang, H. et al. Command Filter-Based Adaptive Fuzzy Self-Triggered Control for MIMO Nonlinear Systems with Time-Varying Full-State Constraints. Int. J. Fuzzy Syst. 25, 3144–3161 (2023). https://doi.org/10.1007/s40815-023-01560-8

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