Adaptive control for nonlinear MIMO time-delay systems based on fuzzy approximation

This paper focuses on the problem of adaptive control for a class of nonlinear multi-input and multi-output (MIMO) systems with time delays. A state feedback adaptive controller is constructed by backstepping technique. Fuzzy logic systems are used to approximate unknown nonlinear functions in the process of the controller design. The main advantages of the proposed approach are twofold: (1) the controller design is independent of the knowledge of the basis functions of fuzzy logic systems, and (2) the suggested approach requires only m adaptive laws to control a nonlinear time-delay system with m inputs. Simulation results illustrate the effectiveness of the proposed approach.