Adaptive fuzzy tracking control for a class of perturbed strict-feedback nonlinear system using command filtering

This paper presents an adaptive fuzzy tracking controller design for a class of perturbed nonlinear system in strict-feedback form. The system dynamics are unknown, and external disturbances satisfy triangular bounds. We utilize Takagi-Sugeno (T-S) fuzzy logic system to approximate the unknown system functions. The proposed scheme can guarantee the ultimate uniform boundedness of all the signals in the closed-loop system. Command filtering employed to construct Lyapunov candidate function. The proposed design circumvents the repeated differential of virtual control law, which renders the controller structures simple and easy to implement. Simulation researches are carried out. The simulation results demonstrate the effectiveness and usage of the proposed design.