Adaptive Fuzzy Robust Control for Nonlinear System with Dynamic Uncertainties Based on Backstepping

In this paper, a fuzzy adaptive backstepping design procedure is proposed for a class of nonlinear systems with three types of uncertainties: (i) unknown nonlinear functions; (ii) uncertain nonlinearities; (iii) unmodeled dynamics. The fuzzy logic systems are used to approximate the unknown nonlinear functions, nonlinear damping terms are used to counteract the uncertain nonlinearities. The derived fuzzy adaptive control approach guarantees the global bounded property for all the signals and the states and at the same time, steers the output to a small neighborhood of the origin.