Robust Adaptive Fuzzy Controller Design for a Class of Uncertain Nonlinear Time-Delay Systems

In this paper, the problems of stability and control for a class of uncertain nonlinear systems with unknown state time-delay are studied by using the fuzzy logic systems. Because the dynamic surface control technique is introduced to deal with the uncertain time-delay systems, the designed adaptive fuzzy controller can avoid the issue of “explosion of complexity”, which comes from the traditional backstepping design procedure. Compared with the existing results in the literature, the robustness to the fuzzy approximation errors is improved by adjusting the estimations of the unknown bounds for the approximation errors. It is shown that the resulting closed-loop system is stable in the sense that all the signals are bounded and the system output track the reference signal in a small neighborhood of the origin by choosing design parameters appropriately. Three simulation examples are given to demonstrate the effectiveness of the proposed techniques.