Adaptive Mamdani fuzzy control for a class of nonlinear time-delays systems

In this paper, an adaptive fuzzy tracking control is presented for a class of SISO nonlinear strict-feedback systems with unknown time delays. The developed control algorithm uses the Mamdani-type fuzzy systems to approximate on-line the unknown nonlinear function. The Krasovskii-functional is constructed to compensate for the unknown delayed state. The proposed 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, which is required to be updated on-line. Simulation results are presented to verify the effectiveness of the proposed approach.