Removing the feasibility conditions on adaptive fuzzy decentralized tracking control of large-scale nonlinear systems with full-state constraints

International audienceThis work is dedicated to solving the adaptive fuzzy decentralized tracking control issue of large-scale nonlinear systems with full-state constraints. Different with barrier Lyapunov function, the main difference is that a novel nonlinear state-dependent function (NSDF) is introduced to prevent the state constraints being overstepped. Based on NSDF, the necessary feasibility conditions for virtual controllers are completely removed. Then, the prior knowledge of the unknown virtual control coefficients is no longer required since the original system is transformed via the new affine variable. Under the control strategy, three objectives on system performance are achieved: (a) all signals of the closed-loop system are bounded; (b) the subsystem output closely tracks the reference trajectory and original error is ultimately uniformly bounded; (c) the full-state constraints are not violated for all the time. At the end, two simulation examples are shown to verify the effectiveness of the control method