Fuzzy adaptive control for nonlinear systems in non-strict-feedback form

This paper focuses on adaptive fuzzy tracking control for nonlinear non-strict-feedback systems with input saturation. A variable separation method is developed to deal with the difficulty in control design from the non-strict-feedback structure. Furthermore, a novel adaptive fuzzy control scheme is proposed. The proposed fuzzy controller guarantees semi-global boundedness of resulting closed-loop system, and system´s output follows the desired signals well. Simulation example illustrates the effectiveness of the proposed approach.