An Adaptive Fuzzy Backstepping Controller for Delay Compensation in Networked Control Systems

In this paper, controller design for networked control systems with input delay and output limitations is studied. An auxiliary signal is defined to separate the input delay from system input. Also, barrier Lyapunov functions are utilized to deal with output limitations. The nonlinear functions in the model, which assumed unknown, are another limitation. These unknown nonlinear functions are estimated using fuzzy logic systems. Based on these techniques a controller is designed. Stability analysis proves that all the signals in the closed-loop system are semi-globally uniformly ultimately bounded. Simulation results are provided to support the theory.