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Fuzzy adaptive control for a class of uncertain nonlinear pure-feedback systems with full state constraints

A fuzzy adaptive control problem is discussed for a class of pure-feedback nonlinear systems with full-state constraints in this paper. Based on the dynamic surface control technique and fuzzy approximator, an adaptive control design method is constructed for the system studied. A Barrier Lyapunov function is introduced in every design step to cope with the problem of full-state constraints. It's shown that all the signals are ultimately bounded in the closed-loop system, and the full-state constraints are never be violated. A numerical example is provided to verify the effectiveness of the proposed approach.