Adaptive Robust Fuzzy Control for a class of Nonlinear Systems Based on Backstepping Method

An adaptive robust fuzzy control approach is developed in this paper for uncertain nonlinear strict-feedback systems with unknown control input gain functions. The prominent features of the developed approach are: 1) the controller singularity problem is solved perfectly, 2) it improves the robust performance of the system, 3) compared with most of results in adaptive fuzzy or neural networks control for nonlinear strict-feedback systems, the developed approach alleviates on-line computation burden. The overall control system guarantees that all signals are uniformly ultimately bounded and that the tracking error variables exponentially converge to an arbitrarily small neighborhood around zero by suitably choosing the design parameters. A simulation example demonstrates the feasibility of the developed control approach.