Partial Tracking Error Constrained Fuzzy Dynamic Surface Control for a Strict Feedback Nonlinear Dynamic System

As an extension of the conventional output constraint problem, this paper proposes the use of nonlinear dynamic surface control (DSC) combined with adaptive fuzzy logic control to constrain the partial tracking errors of strict feedback nonlinear dynamic systems with uncertainties. Transformation of the tracking errors into new virtual error variables is used to recursively design a DSC controller, and a careful selection of the controller design parameters ensures that partial state tracking errors are confined at all times within the prescribed bounds. The stability and boundedness of all closed-loop signals were confirmed using the Lyapunov theorem. The simulation results highlight the efficacy and utility of the proposed control scheme.