Adaptive fuzzy control for strict-feedback nonlinear time -delay systems without backstepping scheme

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)


In this paper, an adaptive fuzzy tracking control is presented for a class of SISO nonlinear strict-feedback systems with unknown time delays. The proposed algorithm does not use the backstepping scheme rather it converts the strict-feedback time-delayed system to the normal form. The Mamdani-type fuzzy system is employed to approximate online the unknown lumped nonlinear function. The developed controller guarantees uniform ultimate boundedness of all signals in the closed-loop system. The designed control law is independent of the time delays and has a simple form with only one adaptive parameter vector, which is required to be updated on-line. As a result, the proposed control algorithm is considerably simpler than the previous ones based on backstepping. Simulation results are presented to verify the effectiveness of the proposed approach.

Original languageEnglish
Title of host publicationProceedings of the IEEE Conference on Decision and Control
Number of pages6
Publication statusPublished - 2010
Event2010 49th IEEE Conference on Decision and Control, CDC 2010 - Atlanta, GA, United States
Duration: Dec 15 2010Dec 17 2010


Other2010 49th IEEE Conference on Decision and Control, CDC 2010
CountryUnited States
CityAtlanta, GA


ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Control and Optimization

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