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This paper deals with the design of a robust adaptive fuzzy tracking control for a class of uncertain and disturbed nonlinear systems. In addition to the desired performances and the convergence of the tracking error, the proposed approach guarantees the uniformly ultimately boundedness of the resulting closed-loop system. Furthermore, it allows overcoming many problems related to adaptive fuzzy controllers like singularity problem and constraints on the control gain, and reducing the number of used parameters, which encourage the real-time implementation. Finally two simulation examples are presented to show the effectiveness and the performances of the proposed approach.