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IEEE TRANSACTIONS ON CYBERNETICS
Observer-Based Finite-Time Adaptive Fuzzy
Control for Nontriangular Nonlinear Systems
With Full-State Constraints
Huaguang Zhang , Fellow, IEEE, Yang Liu , and Yingchun Wang , Member, IEEE
Abstract—This article focuses on finite-time adaptive fuzzy
output-feedback control for a class of nontriangular nonlin-
ear systems with full-state constraints and unmeasurable states.
Fuzzy-logic systems and the fuzzy state observer are employed
to approximate uncertain nonlinear functions and estimate the
unmeasured states, respectively. In order to solve the algebraic
loop problem generated by the nontriangular structure, a vari-
able separation approach based on the property of the fuzzy
basis function is utilized. The barrier Lyapunov function is incor-
porated into each step of backstepping, and the condition of
the state constraint is satisfied. The dynamic surface technique
with an auxiliary first-order linear filter is applied to avoid the
problem of an “explosion of complexity.” Based on the finite-time
stability theory, an adaptive fuzzy controller is constructed to
guarantee that all signals in the closed-loop system are bounded,
the tracking error converges to a small neighborhood of the
origin in a finite time, and all states are ensured to remain
in the predefined sets. Finally, the simulation results reveal the
effectiveness of the proposed control design.
Index Terms—Adaptive fuzzy control, finite-time control, full-
state constraints, nontriangular nonlinear systems.
I. I NTRODUCTION
URING the past few years, the adaptive control method
D based on the backstepping technique serves as an effec-
tive tool to construct the controller for a class of nonlinear
systems [1]–[4]. For the nonlinear system with the func-
tion being completely unknown, this method is not available.
Due to the excellent ability of approximating, the fuzzy-
logic system (FLS) or neural networks (NNs) have been
widely applied to model uncertain nonlinearities. Moreover,
Manuscript received December 4, 2019; accepted March 27, 2020. This
work was supported in part by the National Key Research and Development
Program of China under Grant 2018YFA0702200, in part by the National
Natural Science Foundation of China under Grant 61627809 and Grant
61433004, and in part by the Liaoning Revitalization Talents Program under
Grant XLYC1801005. This article was recommended by Associate Editor
S.-F. Su. (Corresponding author: Huaguang Zhang.)
Huaguang Zhang is with the State Key Laboratory of Synthetical
Automation for Process Industries, Northeastern University, Shenyang
110004, China, and also with the College of Information Science and
Engineering, Northeastern University, Shenyang 110004, China (e-mail:
hgzhang@ieee.org).
Yang Liu and Yingchun Wang are with the College of Information Science
and Engineering, Northeastern University, Shenyang 110004, China (e-mail:
myliuyang@yeah.net; drwangyc@gmail.com).
Color versions of one or more of the figures in this article are available
online at http://ieeexplore.ieee.org.
Digital Object Identifier 10.1109/TCYB.2020.2984791
2168-2267 
c 2020 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission.
See https://www.ieee.org/publications/rights/index.html for more information.
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1
lots of valuable results have been acquired in the domain
of adaptive fuzzy control or adaptive NN control based on
the backstepping technique [5]–[12]. Tong et al. applied FLS
to approximate the unknown nonlinear function in [9], and
both adaptive fuzzy state-feedback and output-feedback con-
trol schemes were designed, which confirmed the stability of
the closed-loop system. It should be noted that there exists a
drawback inherent in the backstepping method. The problem
of explosion of complexity is inevitable as the order of the
system increases, which is generated by the repeated dif-
ferentiations of the virtual control signal. To overcome this
problem, the dynamic surface control (DSC) technology [13]
was introduced. For the non-Lipschitz systems in [13], the
low-pass filter was applied to deal with the “explosion of
terms,” and an adaptive tracking control scheme with the DSC
technique was designed. This method was extended to strict-
feedback nonlinear systems in [14] and [15] with arbitrary
uncertainty.
In practice, the problem of constraint occurs in various
forms for engineering systems, such as input saturation, dead
zone, state constraints, and output constraint. For the output
constraint, Tee et al. proposed the barrier Lyapunov func-
tion (BLF) in [16], and an important theorem was given to
ensure that the output constraint cannot be violated. Based
on [16], the application of the BLF was extended from the
output constraint to the state constraints. Considering the full-
state constraints in [17] for pure-feedback systems, the BLF
was incorporated into each step of the design procedure to
confirm the constrained states were satisfied. Partial state con-
straints were studied in [18], compared with the full-state
constraints, and the feasibility condition with BLF for the
partial constraints was relaxed. For the high-order nonlinear
systems in [19], the tan-type BLF was introduced with the sign
function to prevent the violation of the output constraint. A
high-order tan-type BLF was first constructed in [20] to handle
the full-state constraints of the high-order systems. Moreover,
with this kind of BLF and a reduced adaptive fuzzy control, a
novel control scheme was designed in [21] for the high-order
stochastic nonstrict-feedback nonlinear systems with full-state
constraints.
Compared with the asymptotic control, finite-time con-
trol has received a lot of attention due to higher tran-
sient performance and better steady tracking property [22].
Moreover, there are many applications in practical systems,
such as teleoperation systems [23], [24]; aircraft flight systems
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2 IEEE TRANSACTIONS ON CYBERNETICS

[25]; and so on. In [26], the finite-time Lyapunov stability the- II. P RELIMINARIES AND S YSTEM D ESCRIPTION
ory was proposed for non-Lipschitzian autonomous systems. A. Necessary Preparations
Taking the attitude control of rigid spacecraft into consider-
In order to obtain the desired result in this article, some
ation, a practical finite-time stable lemma was given in [27],
necessary definitions and lemmas are given in the following.
and the controller was designed based on this lemma to con-
Definition 1 [27]: Consider the nonlinear system ξ̇ =
firm the finite-time convergence of the system. In [28]–[30], a
f (ξ, u), where ξ is the system state vector, and u represents the
novel global fast finite-time stabilization was investigated for
system input. f : D → Rn is continuous on an open set D ⊂ R.
high-order nonlinear systems. Compared with the traditional
The nonlinear system ξ̇ = f (ξ, u) is SGPFS, if for every initial
finite-time stability theory, the fast finite-time theory provides
condition ξ(t0 ) = ξ0 , there exists ε > 0 and a settling time
a faster convergence rate. Because of the complete uncertainty
T(ε, ξ0 ) < ∞ to make ξ(t) < ε, for all t ≥ t0 + T.
of the systems, the criterion of semiglobal practical finite-time
Lemma 1 (Young’s Inequality) [40]: For a ∈ R and b ∈ R,
stability (SGPFS) was proposed in [31] for pure-feedback non-
the following inequality holds:
linear systems. Based on this criterion, an adaptive fuzzy con-
trol strategy was constructed, which made the tracking error lm m 1
converge to the neighborhood of the original in finite time. A ab ≤ |a| + n |b|n
m nl
practical finite-time stability corollary was developed in [32],
where l > 0, m > 1, n > 1, and (m − 1)(n − 1) = 1.
and an adaptive finite-time scheme was developed with the
Lemma 2 [41]: For any variables ϕ and ψ, and positive
help of a command filter. An SGPFS criterion was proposed
constants υ, ω, and ρ, the following inequality holds:
for the nontriangular system in [33], and the designed adaptive
υ ω υ
NN controller could acquire the faster tracking performance of |ϕ|υ |ψ|ω ≤ ρ|ϕ|υ+ω + ρ − ω |ψ|υ+ω .
the systems. By applying the mean value theorem of integrals, υ +ω υ +ω
a new SGPFS criterion in [34] was developed for the stochastic
Lemma 3 [31]: Consider the nonlinear system ξ̇ =
systems.
f (ξ ). Suppose that there is a C 1 positive-definite function
Inspired by the above results, this article emphasizes the
V(ξ ) : D → R with scalars c > 0, 0 < β < 1, and η > 0,
finite-time adaptive fuzzy tracking problem for nontriangu-
such that
lar systems subject to full-state constraints and unmeasurable
states. The main contributions in this article are summarized V̇ ≤ −cV β (ξ ) + η, t≥0
as follows.
1) Based on the finite-time stability criterion, an adaptive then the system ξ̇ = f (ξ ) is SGPFS.
fuzzy control scheme is designed for the nontrian- Lemma 4 [41]: For ai ∈ R, i = 1, 2, . . . , p, and a constant
gular nonlinear systems with constrained states. The 0 < σ ≤ 1, the following relation holds:
proposed control strategy guarantees that the practi-  p σ  p σ
 p 
cal stability of the systems can be realized in a finite σ
|ai | ≤ |ai | ≤ p1−σ
|ai | .
time. i=1 i=1 i=1
2) The property of the fuzzy basis function is applied
to solve the algebraic loop problem caused by the Lemma 5 [42]: For any positive constant kbi (i =
nontriangular structure, and the assumption condition 1, 2, . . . , n), let E := {e ∈ Rn | : |ei | < kbi } ⊂ Rn and
in [35]–[39] is removed, in which the system functions N := Rl × E ⊂ Rl+n be open sets. Consider the system
must be monotonically increasing. To circumvent the
ξ̇ = f (ξ, u)
obstacle caused by an unmeasurable state variables, a
fuzzy state observer is constructed, which is much more where ξ := (ω, e)T ∈ N and f : R+ × N → Rl+n are piecewise
precise than the general linear observer. continuous in t, and locally Lipschitz in ξ , uniformly in t, and
3) By utilizing the DSC technique based on the backstep- on R+ × N. Let Ei := {ei ∈ R : |ei | < kbi } ⊂ R. If there exist
ping framework, the difficulty of explosion of complex- positive functions U : Rl → R+ and Vi : Ei → R+ which are
ity in traditional backstepping is overcome. The log-type continuously differentiable and positive definite in Rl and Ei ,
BLF associated with error surface systems is incorpo- respectively, such that
rated into each step of the design for the controller and
all states are guaranteed not to transgress the predefined Vi (ei ) → ∞ as ei → kbi or ei → −kbi
sets. γ1 (ω) ≤ U(ω) ≤ γ2 (ω)
The remainder of this article is organized as follows. In n
Section II, some preliminaries and the description of the with γ1 , γ2 ∈ K∞ . Let V(ζ ) := i=1 Vi (ei ) + U(ξ ) and
system are presented. In Section III, a fuzzy observer is given. ei (0) ∈ Ei . If the following relationship holds:
Section IV provides the details of the design process for the ∂V
adaptive controller, and the stability analysis is presented. V̇ = f ≤ −cV β + η
∂ξ
Section V shows two simulation examples to illustrate the
effectiveness of theoretical results. The conclusion is given where c > 0, η > 0, and 0 < β < 1, then ei (t) ∈ Ei ∀t ∈
in Section VI. [0, ∞).

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ZHANG et al.: OBSERVER-BASED FINITE-TIME ADAPTIVE FUZZY CONTROL 3

B. System Description Lemma 6 [43]: Consider a continuous function f (x) defined

Consider the following nontriangular nonlinear system: on a compact set . For ∀ε > 0, there exists an FLS satisfying
⎧
⎨ ẋi = xi+1 + fi (x), i = 1, 2, . . . , n − 1 sup |f (x) − θ T ϕ(x)| ≤ ε.
x∈
ẋn = u + fn (x) (1)
⎩ Remark 1: From the definition of ϕ j and ϕ, it is true that
y = x1
0 < ϕ j ≤ 1 and 0 < ϕ T ϕ ≤ 1. The feature of 0 < ϕ T ϕ ≤ 1
where x = (x1 , x2 , . . . , xn )T ∈ Rn and y ∈ R represent will be applied to separate the whole state variate of the system
system states and output, respectively. Define an open set as function in the following analysis.
xi := {xi (t) ∈ R : |xi (t)| < kci }, i = 1, 2, . . . , n ∀t > 0,
where kci is a positive constant, and each state variate xi is III. F UZZY S TATE O BSERVER
constrained in the set xi . u ∈ R denotes the system control
input. fi (x), i = 1, 2, . . . , n, are unknown smooth nonlinear Due to unmeasurable state variables in system (1), it is
functions. It is assumed that only the output y can be measured necessary to construct a fuzzy state observer. For the con-
directly. venience of the following analysis, system (1) is rewritten in
The control goal in this article is to construct a finite-time the following form:


adaptive fuzzy output-feedback control scheme for system (1) ẋ = Ax + Ly + ni=1 Bi fi (x) + Bu
(2)
such that: 1) the tracking error converges to a small neigh- y = Cx
borhood of the original in finite time and all signals in the
where
closed-loop system are bounded and 2) the problem of the ⎡ ⎤
full-state constraints cannot be transgressed. −l1
⎢ ⎥
In order to satisfy the controller design, the necessary A = ⎣ ... In−1 ⎦
assumptions are given as follows. −ln 0 ··· 0
Assumption 1: The desired signal yr (t) and its derivatives
ẏr , ÿr are continuous and bounded. For any constant kc1 > 0, L = (l1 , l2 , . . . , ln )T , Bi = (0, . . . , 0, 1, 0, . . . , 0)T , B =
  
there exist positive constants A0 , A1 , and A2 , such that |yr | ≤ i
A0 ≤ kc1 , |ẏr | ≤ A1 , and |ÿr | ≤ A2 ∀t ≥ 0. In addition, there (0, 0, . . . , 0, 1)T , and C = (1, 0, . . . , 0, 0). L is selected
exists a compact yr = {(yr , ẏr , ÿr )T : y2r + ẏ2r + ÿ2r ≤ δyr } ⊂ R3 such that A is a strict Hurwitz matrix. Therefore, for any given
such that (yr , ẏr , ÿr )T ∈ yr , where δyr is a positive constant. matrix Q = QT > 0, there exists matrix P = PT > 0, such
that
C. Fuzzy-Logic System AT P + PA = −2Q.
FLS has good performance in approximating the unknown
nonlinear functions. There are four parts of the FLS: 1) fuzzy Define a fuzzy observer as follows:
rules; 2) fuzzifier; 3) knowledge; and 4) defuzzifier. The details 
n
 
of the fuzzy rules are described as follows. x̂˙ = Ax̂ + Ly + Bi fˆi x̂|θi + Bu (3)
j j j
Rule j: If x1 is M1 , x2 is M2 , . . . , xn is Mn , i=1
Then: y is N j ,j = 1, 2, . . . ,  where x̂ = (x̂1 , x̂2 , . . . , x̂n )T and fˆi (x̂|θi ) are the estimation
where x = (x1 , x2 , . . . , xn )T ∈ Rn denotes the input of FLS, of the system state vector x = (x1 , x2 , . . . , xn )T and the
j
and y is the output of FLS. Mi and N j represent fuzzy sets.  uncertain function fi (x). According to Lemma 6, we assume
is the total number of rules. Under the action of the Singleton that the uncertain continuous functions fi (x) and fˆi (x̂) can be
fuzzifier, product inference, and center-average defuzzifier, the approximated via the FLS, satisfying
output y of the FLS can be described in the following form:    
L j n j
fi (x|θi ) = θiT ϕi (x) and fˆi x̂|θi = θiT ϕi x̂ . (4)
j=1 ȳ i=1 μMi (xi )
y = L n j The minimum fuzzy approximation error δi is defined as
j=1 i=1 μMi (xi )  
δi = fi (x) − fˆi x̂|θi∗ , i = 1, 2, . . . , n (5)
j j
where μMi and μN stand for membership functions associated
j where θi∗ denotes the optimal parameter vector. Assume that
with M j and N j , and ȳj is the point at which μN (y) achieves there exists constant δi∗ > 0 such that |δi | ≤ δi∗ .
j
its maximum value. It is usually assumed that μN (ȳj ) = 1. The observation error vector x̃ can be expressed as follows:
The fuzzy basis function is described as
n x̃ = x − x̂ = (x̃1 , x̃2 , . . . , x̃n )T .
i=1 μM j (xi )
ϕ j = L n i According to system (2) and the fuzzy observer (3), we can
j=1 i=1 μM j (xi ) i obtain the following estimation error dynamics:
in which θ = (θ 1 , θ 2 , . . . , θ L )T = (ȳ1 , ȳ2 , . . . , ȳ )T and ϕ = x̃˙ = ẋ − x̂˙
(ϕ 1 , ϕ 2 , . . . , ϕ  )T . Then, the FLS can be presented as 
n   
= Ax̃ + Bi fi (x) − f̂i x̂|θi
y = θ T ϕ(x). i=1

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4 IEEE TRANSACTIONS ON CYBERNETICS


n
  where i > 0 is a time constant, αi−1 is the virtual control
= Ax̃ + Bi θ̃iT ϕi x̂ + δ
signal serving as the input of the first-order filter (10), and ςi
i=1
is the error surface. Moreover, from the definition (9) and (10),
where δ = (δ1 , δ2 , . . . , δn )T , and θ̃i = θi∗ − θi is the adaptive we can obtain
parameter estimation error. ςi
Choose the Lyapunov function α̇i,L = − , i = 2, 3, . . . , n. (11)
i
1 T
V0 =
x̃ Px̃. (6) Remark 3: In the traditional backstepping method, the vir-
2
tual control signal αi−1 is repeatedly differentiated, which will
The derivative of V0 with respect to t is lead to the problem of explosion of complexity. In order to
 n 
   avoid this problem, an auxiliary first-order filter (10) is intro-
V̇0 = −x̃ Qx̃ + x̃ P
T T
Bi θ̃i ϕi x̂ + δ .
T
(7) duced. The virtual control signal αi−1 passes the filter, a new
i=1 signal αi,L is generated without explosion of terms, and it will
According to Young’s inequality and the property of the be employed in the next step for the controller design. As the
fuzzy basis function 0 < ϕi (·)T ϕi (·) ≤ 1, one obtains results, that repeatedly differentiating is avoided.
 n  Step 1: According to the change of coordinates (9), the
   derivative of e1 respect to t is
T
x̃ P Bi θ̃i ϕi x̂ + δ
T

i=1 ė1 = ẏ − ẏr

 2 P2 
n
P2  
≤ x̃ + θ̃iT θ̃i + δ ∗ 2 (8) = e2 + α1 + ς2 + θ1∗ T ϕ1 (x̂) − ẏr + x̃2 + δ1
2 2 = e2 + α1 + ς2 + θ1∗ T ϕ1 (x̂) − θ1∗ T ϕ1 (x̂1 )
i=1

where δ ∗ = (δ1∗ , δ2∗ , . . . , δn∗ )T . + θ1T ϕ1 (x̂1 ) + θ̃1T ϕ1 (x̂1 ) − ẏr + x̃2 + δ1 . (12)
Combining (8) with (7), yields
Since the states of system (1) are constrained in the set xi ,
 2 P2 
n
the symmetric log-type BLF is applied to guarantee that all the
V̇0 ≤ −λ0 x̃ + θ̃iT θ̃i + M0 states cannot violate those constraints. The Lyapunov function
2
i=1
is constructed as follows:
where λ0 = λmin (Q) − 1 and M0 = (P2 /2)δ ∗ 2 . 2
1 kb 1 T
Remark 2: For the unmeasured states, the linear state V1 = V0 + log 2 1 2 + θ̃ θ̃1 (13)
observer was introduced in [44]–[46] such as 2 kb − e1 2γ1 1
1
 
x̂i = x̂i+1 − li y − x̂1 , 1 ≤ i ≤ n − 1 where kb1 = kc1 − A0 , and γ1 > 0 is the design parameter.
  In the set e1 = {e1 ∈ R : |e1 | < kb1 }, V1 is a continuous
x̂n = u − ln y − x̂1 .
function. Combine with (12), one can obtain
It is noteworthy that the linear observer does not depend on
the controlled plants and only relates to the output signal. For e1 ė1 1
V̇1 = V̇0 + − θ̃1T θ̇1
the fuzzy observer (3) in this article, the FLS is applied to kb21 − e21 γ1
 
approximate the uncertain function fi (x), and better estimation e1 α1 − ẏr + e2 + ς2 + x̃2 + δ1 + θ1T ϕ1 (x̂1 )
performance can be obtained. = V̇0 +
kb21 − e21
 
IV. A DAPTIVE F UZZY C ONTROL D ESIGN e1 θ1∗ T ϕ1 (x̂) − θ1∗ T ϕ1 (x̂1 )
AND S TABILITY A NALYSIS +
kb21 − e21
A. Adaptive Fuzzy Control Design  
1 T γ1 ϕ1 (x̂1 )e1
In this section, by combining the backstepping method with − θ̃ θ̇1 − 2 . (14)
the DSC technology, a finite-time adaptive fuzzy control will γ1 1 kb1 − e21
be developed for the systems (1). The detailed design pro-
cess will be presented in the following. First, the change of The property of the fuzzy basis function (0 < ϕ1 (·)T ϕ1 (·) ≤ 1)
coordinates is given and Lemma 1 is applied and yields

e1 = x1 − yr e1 (x̃2 + δ1 ) e2 1 1
≤ 2 1 2 + x̃2 + δ1∗ 2
ei = x̂i − αi,L , i = 2, 3, . . . , n kb1 − e1
2 2 (kb1 − e1 )2 2 2
 
ςi = αi,L − αi−1 , i = 2, 3, . . . , n (9) e1 θ1∗ T ϕ1 (x̂) − θ1∗ T ϕ1 (x̂1 ) τ e21 2  ∗ 2
≤  2 + θ1 
where αi,L is the output of the first-order filter, which is kb1 − e1
2 2 τ
2 kb21 − e21
defined as
e1 ς2 e21 1 2
i α̇i,L + αi,L = αi−1 , αi,L (0) = αi−1 (0) ≤  2 + ς2 (15)
kb21 − e12
2 kb21 − e21
2
i = 2, 3, . . . , n (10)

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ZHANG et al.: OBSERVER-BASED FINITE-TIME ADAPTIVE FUZZY CONTROL 5

where τ > 0. Substituting (15) into (14), yields Similar to the analysis in step 1, we have
 
 2 P2 
n
V̇1 ≤ −λ0 x̃ + θ̃iT θ̃i + M0 e2 θ2∗ T ϕ2 (x̂) − θ2∗ T ϕ2 (x̂2 ) τ e22 2  ∗ 2
2 ≤  2 + θ2 
 i=1
  kb2 − e2
2 2 τ
2 kb22 − e22
e1 α1 − ẏr + θ1 ϕ1 (x̂1 ) + (τ + 3)e1 /2 kb21 − e21
T
+ e2 ς3 e22 1 2
kb21 − e21 ≤  2 + ς3
  kb2 − e2
2 2
2 kb22 − e22
2
e1 e2 1 T γ1 ϕ1 (x̂1 )e1  
+ 2 − θ̃1 θ̇1 − 2
kb1 − e21 γ1 kb1 − e21 e2 θ̃2T ϕ2 x̂ e22 1 T
− 2 ≤  2 + θ̃2 θ̃2 . (23)
1 1 1 2  2 kb2 − e2 2
2 kb22 − e22
2
+ ς22 + x̃2 + δ1∗ 2 + θ1∗  . (16)
2 2 2 τ
The virtual control signal α1 and adaptive law θ˙1 are With the help of the DSC technology and formu-
designed as follows: las (10) and (11), one can obtain ς̇2 = α̇2,L −α̇1 = −(ς2 /2 )+
2β−1
Y2 (·), where Y2 (·) = −[(∂α1 )/(∂ x̂1 )]x̂˙ 1 − [(∂α1 )/(∂θ1 )]θ̇1 −
c1 e1 (τ + 3)e1 [(∂α1 )/(∂yr )]ẏr − [(∂α1 )/(∂ ẏr )]ÿr .
α1 = −  β−1 − θ1 ϕ1 (x̂1 ) −   + ẏr
T
2 − e2 The virtual controller α2 and the adaptive law θ̇2 are
kb1 − e1
2 2 2 k b1 1
designed as
(17)
2β−1
γ1 ϕ1 (x̂1 )e1 c2 e2
θ̇1 = 2 − μ1 θ1 (18) α2 = −  β−1 − l2 x̃1 − θ2 ϕ2 (x̂2 )
T
kb1 − e21 kb22 − e22
where c1 > 0 and μ1 > 0 are designed parameters.  
By substituting (17) and (18) into (16), V̇1 is described as (τ + 2)e2 e1 kb22 − e22
−  − + α̇2,L (24)
2 kb22 − e22 kb21 − e21
P2 
n 2β
c1 e1
V̇1 ≤ −λ1 x̃2 + θ̃iT θ̃i −  β  
2
kb21 − e21 γ2 ϕ2 x̂2 e2
i=1 θ̇2 = 2 − μ2 θ2 (25)
kb2 − e22
μ1 T 1 e1 e2
+ θ̃ θ1 + ς22 + 2 + M1 (19)
γ1 1 2 kb1 − e21 where c2 > 0 and μ2 > 0 are positive design parameters.
According to (23)–(25), (22) can be rewritten as
where λ1 = λ0 −(1/2) and M1 = M0 +(1/2)δ1∗ 2 +(2/τ )θ1∗ 2 .
P2  T
n 2β
Step 2: The time derivative of e2 is c1 e1
V̇2 ≤ −λ1 x̃2 + θ̃i θ̃i −  β
ė2 = x̂˙ 2 − α̇2,L 2
i=1 kb21 − e21
 
= x̂3 + l2 x̃1 + f̂2 x̂|θ2 − α̇2,L 2β
  c2 e2 μ1 T μ2 T 1
= e3 + ς3 + α2 + l2 x̃1 + θ2∗ T ϕ2 x̂ − θ̃2T ϕ2 (x̂) −  β + θ̃ θ1 + θ̃ θ2 + θ̃2T θ̃2
      γ1 1 γ2 2 2
kb22 − e22
− θ2∗ T ϕ2 x̂2 + θ2T ϕ2 x̂2 + θ̃2T ϕ2 x̂2 − α̇2,L (20)
where x̂2 = (x̂1 , x̂2 )T . 1 2 1 2 ς22 e2 e3
+ ς 2 + ς3 − + |ς2 Y2 | + 2 + M2
The Lyapunov function candidate is selected as 2 2 2 kb2 − e22
kb 2 (26)
1 1 T 1
V2 = V1 + log 2 2 2 + θ̃ θ̃2 + ς22 (21)
2 kb − e2 2γ2 2 2 where M2 = M1 + [(2θ2∗ 2 )/τ ].
2
Step i (i = 3,4, . . . , n − 1): The derivative of ei with respect
where γ2 is the positive design parameter, kb2 > 0 and its to t is given as follows:
definition will be given later. It is obvious that V2 is continuous  
in the set e2 = {e2 ∈ R : |e2 | < kb2 }. Then, one can obtain ėi = x̂˙ i − α̇i,L = x̂i+1 + li x̃1 + f̂i x̂|θi − α̇i,L
 
e2 ė2 1 = ei+1 + ςi+1 + αi + li x̃1 + θi∗ T ϕi x̂ − θ̃iT ϕi (x̂)
V̇2 = V̇1 + − θ̃2T θ̇2 + ς2 ς˙2
kb22 − e22 γ2 − θi∗ T ϕi (x̂i ) + θiT ϕi (x̂i ) + θ̃iT ϕi (x̂i ) − α̇i,L (27)
  
e2 α2 + l2 x̃1 + e3 + ς3 − α̇2,L + θ2T ϕ2 x̂2
= V̇1 + where x̂i = (x̂1 , x̂2 , . . . , x̂i )T .
kb22 − e22 Choose the Lyapunov function
  
e2 θ̃2T ϕ2 (x̂) e2 θ2∗ T ϕ2 (x̂) − θ2∗ T ϕ2 x̂2 kb 2
1 1 T 1
− + + ς2 ς˙2 Vi = Vi−1 + log 2 i 2 + θ̃i θ̃i + ςi2 (28)
kb22 − e22 kb2 − e22 2 kb − ei 2γi 2
   2 i

1 T γ2 ϕ2 x̂2 e2 where γi > 0 is the design parameter, and kbi will be defined
− θ̃2 θ̇2 − 2 . (22)
γ2 kb2 − e22 later. In the set ei = {ei ∈ R : |ei | < kbi }, Vi is continuous.

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As the same case of step 2, the following inequalities hold: Choose the positive-definite Lyapunov function
  
ei θi∗ T ϕi (x̂) − θi∗ T ϕi x̂i τ e2i 2  ∗ 2 1 kb 2
1 T 1
≤  2 + θi  Vn = Vn−1 + log 2 n + θ̃ θ̃n + ςn2 (34)
kbi − ei
2 2 τ 2 kb − e2n 2γn n 2
2 kb2i − e2i n

where γn is positive design parameter, and kbn > 0. In the

ei ςi+1 e2i 1 2 set en = {en ∈ R : |en | < kbn }, Vn is continuous. The time
≤  2 + ςi+1
kbi − ei
2 2
2 kb2i − e2i
2 derivative of Vn is
  en ėn 1
ei θ̃ T ϕi x̂ e2i 1 T V̇n = V̇n−1 + − θ̃nT θ̇n + ςn ς̇n
− 2i ≤  2 + θ̃i θ̃i . (29) kb2n− en 2 γ n
kbi − e2i 2 kb2i − e2i
2  
en u + ln x̃1 − α̇n,L + θnT ϕn (x̂)
= V̇n−1 +
Bearing in mind (10) and (11), we obtain i−1 ς̇i = α̇i,L − α̇i−1 = kb2n − e2n
 
−(ζi /2 ) + Yi (·), where Yi (·) = − j=1 [(∂αi−1 )/(∂ x̂j )]x̂˙ j −
i−1 en θ̃ T ϕn (x̂) 1 γn ϕn (x̂)en
j=1 [(∂αi−1 )/(∂θj )]θ̇j − [(∂αi−1 )/(∂αi−1,L )]α̇i−1,L .
− 2n − θ̃nT θ̇n − 2 + ςn ς̇n .
kbn − en 2 γ n kbn − e2n
Based on the above analysis, we construct the virtual control
signal αi and the adaptive law θ̇i in the following form: (35)
2β−1 It is true that
ci ei
αi = −  β−1 − li x̃1 − θi ϕi (x̂i )
T
en θ̃nT ϕn (x̂) e2n 1 T
kb2i − e2i − ≤  2 + θ̃n θ̃n (36)
  kbn − en
2 2
2 kb2n − e2n
2
(τ + 2)ei kb2i − e2i ei−1
−  − 2 + α̇i,L (30) and ς̇n = α̇n,L − α̇n−1 = −(ζn /n ) + Yn (·).
2 kb2i − e2i kbi−1 − e2i−1
The actual controller u and the adaptive law θ̇n are con-
 
γi ϕi x̂i ei structed as follows:
θ̇i = 2 − μi θi (31) 2β−1
kbi − e2i cn en
u = − β−1 − ln x̃1 − θn ϕn (x̂)
T
where ci and μi are positive design parameters. The time kbn − e2n
2
derivative of Vi can be rewritten as  
2β k 2 − e2 e
P2  T 
n i en n−1
cj ej b n n
V̇i ≤ −λ1 x̃ + 2
θ̃i θ̃i −  β −  − 2 + α̇n,L (37)
2 2 k2 − e2 kbn−1 − en−1
2
i=1 j=1 kb2 − e2j bn n
j
γn ϕn (x̂ )en

i
μj 
i
1 
i
1 θ̇n = 2 n − μn θn (38)
+ θ̃jT θj + ςj+1
2
+ θ̃jT θ̃j kbn − e2n
γj 2 2
j=1 j=1 j=2
where cn > 0 and μn > 0 are positive design parameters.
ei ei+1  ςj i 2 i
Substitute (36)–(38) into (35), yields
+ 2 − + |ςj Yj | + Mi (32)
kbi − ei 2 j
P2  T 
n n 2β
j=2 j=2 ci ei
V̇n ≤ −λ1 x̃2 + θ̃i θ̃i −  β
where Mi = Mi−1 + [(2θi∗ 2 )/τ ]. 2
i=1 i=1 kb2 − e2i
Remark 4: It should be emphasized that the function fi (x) i

in the nontriangular nonlinear system (1) contains the whole 

n
μi 
n
1 
n
1 
n
ςj2
+ θ̃iT θi + ςj2 + θ̃jT θ̃j
state variable x = (x1 , x2 , . . . , xn )T , instead of the partial state γi 2 2 j
i=1 j=2 j=2 j=2
variable xi = (x1 , x2 , . . . , xi )T in the lower triangular structure
system. Then, we utilize the property of the fuzzy basis func- n
+ |ςj Yj | + Mn (39)
tion and Young’s inequality to eliminate the whole variable
j=2
x = (x1 , x2 , . . . , xn )T in order to confirm that the virtual con-
troller αi only contains the partial state variable. The problem where Mn = Mn−1 .
of algebraic loop is thus overcome. Compared with the method
in [35]–[39], the assumption that the uncertain function f (x) B. Stability Analysis
has the characteristic of increasing monotonously is removed. The main results of this article are described as follows.
Step n: The actual controller signal u is obtained in this Theorem 1: Consider the nontriangular nonlinear
final step systems (1). Under Assumption 1, the actual controller (37)
ėn = x̂˙ n − α̇n,L is designed with the fuzzy adaptive observer (3) and the
  parameter adaptive laws (31). The proposed control scheme
= u + ln x̃1 + f̂n x̂|θn − α̇n,L
confirms that the closed-loop system is SGPFS, and all the
= u + ln x̃1 + θnT ϕn (x̂) − θ̃nT ϕn (x̂) + θ̃nT ϕn (x̂) − α̇n,L . signals in the closed-loop system are bounded. Moreover, all
(33) the state variables do not transgress the pregiven sets.

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ZHANG et al.: OBSERVER-BASED FINITE-TIME ADAPTIVE FUZZY CONTROL 7

Proof: According to the relationship θ̃i = θi∗ − θi , the Note that log [(kb2i )/(kb2i − e2i )] ≤ [(e2i )/(kb2i − e2i )] when
following inequality holds: |ei | < kbi . Using the previous results, (43) can be rewritten as
1 ∗T ∗ 1 T   β
θ̃iT θi ≤ θ θ − θ̃i θ̃i 2λ1 1 T β  n
1 e2i
2 i i 2 V̇n ≤ − x̃ Px̃ − σ
λmax (P) 2 2 (kbi
2 − e2 )
i
i=1
then  n β  n−1 β
 1 1

n
μi 
n
μi ∗ T ∗  μi T
n
−σ θ̃iT θ̃i − σ ς2 + η. (47)
θ̃iT θi ≤ θi θi − θ̃ θ̃i . (40) 2γi 2 i+1
γi 2γi 2γi i i=1 i=1
i=1 i=1 i=1
Define V = Vn , c = min{[(λ1 2β )/(λ
max (P))], σ }, and η =
For any constants δyr > 0 and ϒ > 0, the set yr =
Mn + 2σρ(1 − β) + ([2λ1 ]/[λmax (P)])(1 − β)ρ. We can obtain
{(yr , ẏr , ÿr )T : y2r + ẏ2r + ÿ2r ≤ δyr } and i := {x̃T Px̃ +
i i T i−1 2
j=1 log [(kbj )/(kbj − ej )] +
2 2 2
j=1 (1/γj )θ̃j θ̃j + j=1 ζj+1 ≤ V̇ ≤ −cV β + η. (48)
2ϒ} are compact in R and R , respectively. Thus, yr ×i is
3 3i
On the basis of Lemma 3, the inequality (48) indicates that
also compact in R3+3i . Therefore, Yi has a maximum i > 0,
the closed-loop system is SGPFS. ∀t ≥ T ∗ , we can obtain
such that |Yi | ≤ i , and the following inequality holds:
V β ≤ [η/(1 − κ)c], where 0 < κ ≤ 1, and the settling time
ςi2 2i τ ⎡ ⎤
 1−β
|ςi Yi | ≤ + . (41) 1 η β
2τ 2 T∗ = ⎣V 1−β (0) − ⎦.
(1 − β)κc (1 − κ)c
Thus, (39) can be expressed as
 β Furthermore, based on the definition of V, for ∀t ≥ T ∗ , we
λ1 n
e2i
β obtain
V̇n ≤ − x̃ Px̃ −
T
2 ci  2 
λmax (P) 2 kbi − e2i 
i=1  −β  1

  1 −2 η 2

− μ1 − P2 γ1 θ̃ T θ̃1 |y − yr | ≤ kb1 1 − e (1−κ)c

. (49)
2γ1 1
n 

  1 This means the tracking error converges to a small neigh-
+ μi − γi − P γi 2
θ̃ θ̃i
T
2γi i borhood of the origin and remains there after the finite
 i=2
 time T ∗ . According to Lemma 5, it can be obtained that
n
2 2i 1 ei ∈ ei , that is, |ei | < kbi . Since e1 = x1 − yr , one obtains
− − − 1 ςi2 + Mn (42)
i τ 2 |x1 | ≤ |e1 | + |yr | < kb1 + A0 . Choose kb1 = kc1 − A0 ,
i=2
we can obtain |x1 | < kc1 . The state of x1 is constrained in

where Mn = Mn + ni=1 (μi /2γi )θi∗ T θi∗ + [τ (n − 1)/2]. Let x1 . According to e2 = x̂2 − α2,L = x2 + x̃2 + ς2 + α1 ,
σ = min{2β c1 , 2β ci , μ1 − P2 γ1 , μi − P2 γi − γi , (2/i ) − then |x2 | ≤ |e2 | + |x̃2 | + |ς2 | + |α1 |. Because α1 is a con-
(2i /τ ) − 1, i = 2, 3, . . . , n}. Formula (42) can be described as tinuous function of x1 , e1 , yr , and ẏr , moreover, |x1 | < kc1 ,
|e1 | < kb1 , |yr | ≤ A0 , and |ẏr | ≤ A1 , then there exists a con-
V̇n ≤ −
2λ1 1 T
x̃ Px̃ stant ᾱ1 > 0 make |α1 | <√ᾱ1 . ∀t ≥ T  , V β ≤ [η/(1 − κ)c], we
λmax
⎧ (P)2 can obtain |x̃2 | ≤ x̃ ≤ [2/λmin√ (P)](η/(1 − κ)c)−2β = 2 ,
β
⎨ n
e2i and |ς2 | ≤ (ς2 , ς3 , . . . , ςn ) ≤ 2(η/(1 − κ)c)−2β = 2 ,
−σ  2  yielding |x2 | ≤ kb2 +2 +2 + ᾱ1 , let kb2 = kc2 −2 −2 − ᾱ1 ,
⎩ 2 kbi − e2i
i=1 we can obtain |x2 | < kc2 , thus the state variable of x2 is con-
 strained in the set x2 . Similar to the deduction of x2 , we can

n
1 T 
n−1
1 2
+ θ̃ θ̃i + ς + Mn . (43) obtain xi ∈ xi , i = 3, 4, . . . , n. That is, the condition of the
2γi i 2 i+1 full-state constraints is satisfied.
i=1 i=1

According to Lemma 2, choose ϕ = 1, ψ = ni=1 (1/2γi )θ̃iT θ̃i ,
V. S IMULATIONS AND E XAMPLES
υ = 1 − β, ω = β, and ρ = β (β/1−β) , then, one can obtain
 n β In this section, two examples are shown to demonstrate the
 1 
n
1 T effectiveness of the proposed adaptive control strategy.
θ̃i θ̃i
T
≤ (1 − β)ρ + θ̃ θ̃i . (44) Example 1:
2γi 2γi i
i=1 i=1 ⎧
⎨ ẋ1 = x2 + sin x1 x22
Similar to (44), the following inequalities hold: ẋ = u + (1 + x12 )x22
 n−1 β ⎩ 2
y = x1
1 
n−1
1
ςi+1
2
≤ (1 − β)ρ + ςi+1
2
(45) where x1 and x2 are system states, and u represents the input
2 2
i=1 i=1 of systems. The boundary of constrained states is defined as
 β
1 T 1 kc1 = 1.5 and kc2 = 1.65. The initial states are given as
x̃ Px̃ ≤ (1 − β)ρ + x̃T Px̃. (46)
2 2 x(0) = (x1 (0), x2 (0))T = (0, 0)T and x̂(0) = (x̂1 (0), x̂2 (0))T =

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8 IEEE TRANSACTIONS ON CYBERNETICS

(0, 0)T , and the desired signal is yr = 0.5 sin t. According

to (3), the fuzzy state observer is described as follows:

   
x̂˙ 1 = x̂2 + l1 x1 − x̂1 + θ1T ϕ1 x̂1 , x̂2 |θ1
   
x̂˙ 2 = u + l2 x2 − x̂2 + θ2T ϕ2 x̂1 , x̂2 |θ2 .
For the state variables x1 and x2 , 11 fuzzy sets are defined over
the interval [−5, 5], and −5, −4, −3, −2, −1, 0, 1, 2, 3, 4, 5
are the partitioning points. Choose the fuzzy membership
function as
  2    2 
x̂i − 5 x̂i − 4
μF1 = exp − ; μF2 = exp −
i 4 i 4
  2    2 
x̂i − 3 x̂i − 2
μF3 = exp − ; μF4 = exp −
i 4 i 4 Fig. 1. Trajectories of output y and yr in Example 1.
  2    2 
x̂i − 1 x̂i − 0
μF5 = exp − ; μF6 = exp −
i 4 i 4
  2    2 
x̂i + 1 x̂i + 2
μF7 = exp − ; μF8 = exp −
i 4 i 4
  2    2 
x̂i + 3 x̂i + 4
μF9 = exp − ; μF10 = exp −
i 4 i 4
  2 
x̂i + 5
μF11 = exp − ; i = 1, 2.
i 4
Adaptive fuzzy controller, virtual controller, and adaptive
laws are designed as
2β−1
c2 e2  
u = − β−1 − l2 x̃1 − θ2 ϕ2 x̂
T Fig. 2. Trajectories of x1 , x̂1 , x2 , and x̂2 in Example 1.

kb22 − e22
 
e2 e1 kb22 − e22
−  − + α̇2,L
2 kb22 − e22 kb21 − e21
2β−1
c1 e1   (τ + 3)e1
α1 = −  β−1 − θ1 ϕ1 x̂1 −   + ẏr
T

kb21 − e21 2 kb21 − e21

 
γ1 ϕ1 x̂1 e1
θ̇1 = 2 − μ1 θ1
kb1 − e21
 
γ2 ϕ2 x̂2 e2
θ̇2 = 2 − μ2 θ2 .
kb2 − e22
The parameters are selected as β = 999/1001, τ = 1, Fig. 3. Trajectories of controller u and adaptive laws θ1  and θ2  in
γ1 = 0.5, γ2 = 0.5, μ1 = 0.8, μ2 = 0.8, c1 = 15, Example 1.
c2 = 15, l1 = 20, and l2 = 50. The initial values are
given as θ1 (0) = (0.05, 0.01, 0, 0.2, 0.1, 0, 0, 0, 0, 0, 0)T and
θ2 = (0.05, 0.01, 0, 0.2, 0.1, 0, 0, 0, 0, 0, 0)T . The simulation Example 2 (One-Link Robot System) [47]: The dynamic
results are obtained and exhibited in Figs. 1–3. From Fig. 1, equation of the one-link robot system is described as
we can deduce that the good tracking performance is achieved.

Dq̈ + Bq̇ + N sin(q) = τ + τd

Fig. 2 exhibits the trajectories of the states x1 and x2 , and their
observer states x̂1 and x̂2 , which demonstrates that the fuzzy
observer works well. Fig. 3 shows the trajectories of controller
u and the trajectories of the norm of the adaptive parameters
θ1  and θ2 . All the simulation results show that the full
states are constrained in the predefined sets, and the states x1
and x2 can be estimated by the fuzzy observer effectively.
M τ̇ + Hτ = U − Km q̇
where q, q̇, and q̈ denote the link position, velocity, and accel-
eration, respectively. τ is the torque produced by the electrical
subsystem and τd represents the torque disturbance. u is the
control input used to represent the electromechanical torque.
D = 1 kg m2 is the mechanical inertia, B = 1 Nm s/rad is the

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ZHANG et al.: OBSERVER-BASED FINITE-TIME ADAPTIVE FUZZY CONTROL 9

Fig. 4. Trajectories of x1 , x̂1 , and yr and the tracking error e1 in Example Fig. 6. Trajectories of u in Example 2.
2.

Fig. 5. Trajectories of x2 , x̂2 , and x3 and x̂3 in Example 2. Fig. 7. Phase portraits of the observer error x̃1 , x̃2 , and x̃3 in Example 2.

coefficient of viscous friction at the joint, N = 10 is a positive

constant related to the mass of the load and the coefficient of states x̂2 and x̂3 . From Figs. 4 and 5, we can deduce that the
gravity, M = 0.05 H is the armature inductance, H = 0.5  is fuzzy observer works well and good tracking performance is
the armature resistance, and Km = 10 Nm A is the back-emf obtained. Fig. 6 shows the trajectories of controller u and the
coefficient. trajectories of the adaptive parameters θ1 , θ2 , and θ3 .
Let x1 = q, x2 = q̇, and x3 = τ , the above systems can be Moreover, from Figs. 4 and 5, it is obvious that all the states
expressed as do not transgress the pregiven set. Fig. 7 depicts the phase
⎧ portraits of the error of the observer, which demonstrates that
⎨ ẋ1 = x2 the estimation errors of the fuzzy observer are bounded.
ẋ2 = x3 − D
B
x2 − N
D sin x1 + sin x2 cos x3 (50)
⎩ Km
ẋ3 = u − M x2 − MH
x3 .
VI. C ONCLUSION
We choose the fuzzy membership function and fuzzy basis
functions as In this article, we have developed a finite-time adaptive
  2  output-feedback scheme for nontriangular systems subject to
  !3
x̂i + l full-state constraints and unmeasurable states. By using the
μi,k x̂1 , x̂2 , x̂3 =
l
exp − ,
16 FLS, the uncertain functions and the unmeasurable states,
i=1
which were estimated by the fuzzy observer, have been han-
l = −4, −3, −2, −1, 0, 1, 2, 3, 4.
dled. The property of the fuzzy basis function has been applied
The parameters are designed as β = 99/101, τ = 1, to overcome the problem of an algebraic loop which was
γ1 = γ2 = γ3 = 0.5, μ1 = μ2 = μ2 = 0.5, c1 = c2 = c3 = 2, generated by the nontriangular structure. Combining the back-
and l1 = l2 = l3 = 5. The initial values are given as θ1 (0) = stepping recursive scheme with the DSC technique, a novel
θ2 (0) = θ3 (0) = (0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0, 0)T . The controller has been designed. The signals in the closed-loop
desired signal is yr = sin(0.5t) − cos(1.5t). The simulation system were guaranteed to be bounded based on the finite-
results are got and exhibited in Figs. 4–7. Fig. 4 depicts time stability theory. The proposed control scheme not only
the trajectories of the output signal y, the state variable x1 , has solved the finite-time tracking problem but also ensured
its estimation x̂1 , and the trajectory of the tracking error e1 . that all states were constrained in the given sets. Finally, the
Fig. 5 exhibits the trajectories of x2 and x3 , and their observer simulation results illustrate the effectiveness of the proposed

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10
control method. Further, the finite-time command filtered con-
trol will be applied to the nontriangular nonlinear systems, and
the external disturbance can be considered simultaneously.
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 This article has been accepted for inclusion in a future issue of this journal. Content is final as presented, with the exception of pagination.

ZHANG et al.: OBSERVER-BASED FINITE-TIME ADAPTIVE FUZZY CONTROL 11

[44] B. Chen, H. Zhang, and C. Lin, “Observer-based adaptive neural network Yang Liu received the B.S. degree in mathematics
control for nonlinear systems in nonstrict-feedback form,” IEEE Trans. from Bohai University, Jinzhou, China, in 2009, and
Neural Netw. Learn. Syst., vol. 27, no. 1, pp. 89–98, Jan. 2016. the M.S. degree in fundamental mathematics from
[45] Q. Zhou, P. Shi, J. Lu, and S. Xu, “Adaptive output-feedback fuzzy Northeastern University, Shenyang, China, in 2011,
tracking control for a class of nonlinear systems,” IEEE Trans. Fuzzy where she is currently pursuing the Ph.D. degree in
Syst., vol. 19, no. 5, pp. 972–982, Oct. 2011. control theory and control engineering.
[46] J. Yu, L. Zhao, H. Yu, and C. Lin, “Barrier Lyapunov functions-based Her current research interests include adaptive
command filtered output feedback control for full-state constrained fuzzy control and neural-networks control.
nonlinear systems,” Automatica, vol. 105, pp. 71–79, Jul. 2019.
[47] M. Spong, S. Hutchinson, and M. Vidyasagar, Robot Dynamic and
Control. New York, NY, USA: Cambridge Univ. Press, 1989.

Huaguang Zhang (Fellow, IEEE) received the B.S.

and M.S. degrees in control engineering from the
Northeast Dianli University of China, Jilin City,
China, in 1982 and 1985, respectively, and the Ph.D.
degree in thermal power engineering and automation
from Southeast University, Nanjing, China, in 1991.
He joined the Department of Automatic Control,
Northeastern University, Shenyang, China, in 1992, Yingchun Wang (Member, IEEE) was born
as a Postdoctoral Fellow for two years, where he in Liaoning, China, in 1974. He received the
has been a Professor and the Head of the Institute of B.S., M.S., and Ph.D. degrees from Northeastern
Electric Automation, College of Information Science University, Shenyang, China, in 1997, 2003, and
and Engineering, since 1994. He has authored or coauthored over 200 journal 2006, respectively.
and conference papers and four monographs and has co-invented 20 patents. He is currently an Associate Professor with the
His current research interests include fuzzy control, stochastic-system control, College of Information Science and Engineering,
neural-network-based control, nonlinear control, and their applications. Northeastern University. From 2015 to 2016, he was
Prof. Zhang was a recipient of the Outstanding Youth Science Foundation a Visiting Scholar with West Sydney University,
Award from the National Natural Science Foundation Committee of China in Sydney, NSW, Australia. His current research
2003. He was named the Cheung Kong Scholar by the Education Ministry interests include fuzzy control and fuzzy systems,
of China in 2005. He is an Associate Editor of Automatica, the IEEE network control, multiagent systems, and stochastic control.
T RANSACTIONS ON N EURAL N ETWORKS AND L EARNING S YSTEMS, and Dr. Wang was an Outstanding Reviewer of the IEEE T RANSACTIONS ON
the IEEE T RANSACTIONS ON C YBERNETICS. C YBERNETICS in 2015.

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