Skip to Main Content
In this paper, an adaptive fuzzy tracking control is presented for a class of SISO nonlinear strict-feedback systems with unknown time delays. The proposed algorithm does not use the backstepping scheme rather it converts the strict-feedback time-delayed system to the normal form. The Mamdani-type fuzzy system is employed to approximate online the unknown lumped nonlinear function. The developed controller guarantees uniform ultimate boundedness of all signals in the closed-loop system. The designed control law is independent of the time delays and has a simple form with only one adaptive parameter vector, which is required to be updated on-line. As a result, the proposed control algorithm is considerably simpler than the previous ones based on backstepping. Simulation results are presented to verify the effectiveness of the proposed approach.
Decision and Control (CDC), 2010 49th IEEE Conference on
Date of Conference: 15-17 Dec. 2010