Adaptive fuzzy control for nontriangular form systems with time‐varying full‐state constraints

Summary This article investigates an adaptive fuzzy tracking control problem for a class of nontriangular form systems with asymmetric time‐varying full state constraints. Unknown functions are approximated by the fuzzy logic systems. A domination approach is employed to tackle the nontriangular form structure. Time‐varying asymmetric barrier Lyapunov functions (ABLFs) are adopted to ensure full‐state constraints satisfaction. Based on the backstepping technique and time‐varying ABLFs, an adaptive controller is proposed and guarantees that all the signals in the closed‐loop system are ultimately bounded and the time‐varying full state constraints are met. Simulation examples are presented to further demonstrate the effectiveness of the proposed approach.