Adaptive Fuzzy Control of Strict-Feedback Nonlinear Time-Delay Systems With Unmodeled Dynamics
针对一类具有非线性不确定性、未建模动态、动态扰动和未知时滞的严格反馈非线性系统，提出了一种仅含一个自适应参数的自适应模糊控制方法，通过Lyapunov-Krasovskii函数补偿时滞，并利用双曲正切函数和反步法保证系统信号半全局一致有界，仿真验证了有效性。
In this paper, an approximated-based adaptive fuzzy control approach with only one adaptive parameter is presented for a class of single input single output strict-feedback nonlinear systems in order to deal with phenomena like nonlinear uncertainties, unmodeled dynamics, dynamic disturbances, and unknown time delays. Lyapunov-Krasovskii function approach is employed to compensate the unknown time delays in the design procedure. By combining the advances of the hyperbolic tangent function with adaptive fuzzy backstepping technique, the proposed controller guarantees the semi-globally uniformly ultimately boundedness of all the signals in the closed-loop system from the mean square point of view. Two simulation examples are finally provided to show the superior effectiveness of the proposed scheme.