IBLF-based finite-time adaptive fuzzy output-feedback control for uncertain MIMO nonlinear state-constrained systems

Yan Wei, Yueying Wang, Choon Ki Ahn, Dengping Duan

Research output: Contribution to journalArticlepeer-review

35 Citations (Scopus)


This article considers the problem of finite-time adaptive fuzzy output-feedback control design for multi-input–multioutput uncertain nonlinear systems subject to full state constraints. By employing the finite-time stability theory, a new finite-time adaptive fuzzy output-feedback control approach is proposed. An integral barrier Lyapunov functional is utilized to prevent all states from violating their constraints. Fuzzy logic systems are developed to approximate the uncertainties. A fuzzy state observer is constructed to estimate the unmeasurable states. Moreover, to handle the “explosion of complexity” issue in the backstepping control technique, a finite-time convergent differentiator is introduced to estimate the time derivatives of virtual control signals. The stability analysis showed that the control approach guarantees that all closed-loop signals are bounded, and the tracking errors converge to a small neighborhood of the origin in a finite time. Finally, the effectiveness of the proposed control scheme is confirmed by numerical simulations.

Original languageEnglish
Pages (from-to)3389-3400
Number of pages12
JournalIEEE Transactions on Fuzzy Systems
Issue number11
Publication statusPublished - 2021

Bibliographical note

Funding Information:
Manuscript received December 27, 2019; revised March 29, 2020, June 12, 2020, and August 12, 2020; accepted August 17, 2020. Date of publication September 4, 2020; date of current version November 1, 2021. This work was supported in part by the National Natural Science Foundation of China under Grant 61973204 and Grant 61703275, in part by the National Research Foundation of Korea (NRF) grant funded by the Korea government (Ministry of Science and ICT) under Grant NRF-2020R1A2C1005449, and in part by the Brain Korea 21 Plus Project in 2020. (Corresponding authors: Yueying Wang; Choon Ki Ahn.) Yan Wei is with the School of Aeronautics and Astronautics, Shanghai Jiao Tong University, Shanghai 200240, China, and also with the School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444, China (e-mail: weiyan_ok@sjtu.edu.cn).

Publisher Copyright:
© 2020 IEEE.


  • Adaptive fuzzy control
  • Finite time
  • Integral barrier Lyapunov function (iBLF)
  • Nonlinear systems
  • State constraints

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computational Theory and Mathematics
  • Artificial Intelligence
  • Applied Mathematics


Dive into the research topics of 'IBLF-based finite-time adaptive fuzzy output-feedback control for uncertain MIMO nonlinear state-constrained systems'. Together they form a unique fingerprint.

Cite this