Adaptive Fuzzy Tracking Control of Uncertain High-Order Nonlinear Systems with Asymmetric Full-State Constraints and Zero Dynamics

This work investigates the practical output tracking control for a class of uncertain high-order nonlinear systems with zero dynamics and asymmetric full-state constraints. By designing a novel log-type barrier Lyapunov function (BLF) and utilizing adding a power integrator and fuzzy approximation, a new control method is constructed. It is proved that the tracking error approaches to an arbitrarily small neighborhood of zero, the asymmetric full-state constraints of the systems are not violated. An example illustrates the feasibility of the proposed control method.