A novel approach to adaptive fuzzy tracking control for uncertain nonlinear time-delay systems

By combining fuzzy Takagi-Sugeno (T-S) models and fuzzy logic systems, a novel adaptive fuzzy tracking controller for a class of uncertain nonlinear time-delay systems is developed. Fuzzy T-S models are used to approximate the nonlinear systems and fuzzy logic systems are used to compensate the modeling error and the uncertainties. By using state feedback control law and adaptive law, free parameters can be tuned on-line based on Lyapunov synthesis approach. The adaptive fuzzy control scheme is constructed to ensure that the closed-loop system is uniformly ultimately bounded and satisfies the desired tracking performance. The main advantage is that the modeling error and the uncertainties are not required to satisfy the constraint conditions in this paper. Simulation results of 2-link manipulator demonstrate the effectiveness of the developed control scheme.