Adaptive backstepping-based fuzzy tracking control scheme for output-constrained nonlinear switched lower triangular systems with time-delays

In this paper, an adaptive backstepping-based fuzzy tracking control scheme is proposed for a class of output-constrained nonlinear switched lower triangular systems with time-delays. In the design process, a Barrier Lyapunov Function is employed to deal with the output constraint, the common Lyapunov function method combined with the recursive backstepping technique and Lyapunov–Krasovskii functionals is used to construct a state feedback controller, and fuzzy logic systems are applied to approximate the unknown nonlinear functions. The constructed controller assures that all signals in the closed-loop system are bounded without transgression of the constraint, and the system output eventually converges to a small neighborhood of the desired reference signal. The simulation example is provided to show the effectiveness of the developed approach.