Adaptive fuzzy tracking control for MIMO uncertain nonlinear time-delay systems

This paper addresses the problem of adaptive fuzzy tracking control for MIMO uncertain nonlinear time-delay systems. The control scheme combines adaptive fuzzy control with H∞ control. Adaptive time-delay fuzzy logic systems are constructed and used to approximate the uncertain unknown timedelay functions. The H∞ compensator is designed to eliminate fuzzy approximation errors and external disturbances. The adaptive laws for parameters are given by the tracking error. The timedelay Lyapunov function is constructed, and then it is proved that the error closed loop system satisfies the anticipant H∞ tracking performance. Simulation results demonstrate that the control scheme is feasible.