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This paper addresses the asymptotic control problem of uncertain multi-input and multi-output (MIMO) nonlinear systems. The considered MIMO systems contain unknown virtual control coefficients (UVCCs) and state constraints. A creative Lyapunov function by associating with the lower bounds of UVCCs is presented to counteract the adverse effect deriving from UVCCs. The state constraints are ensured by utilising the barrier Lyapunov function. Moreover, the asymptotic tracking controller is recursively constructed by combining the backstepping technique with fuzzy logic systems. The remarkable character of the designed controller is that the asymptotic tracking performance can be achieved by introducing some smooth functions into adaptive backstepping procedure. In contrast to the existing results, the conditions on the UVCCs are relaxed. Finally, the new control design is illustrated by a practical example.

Adaptive fuzzy asymptotic control design for MIMO nonlinear systems with state constraints