Adaptive fuzzy output tracking control for nonlinear systems in semi-strict feedback form

In this paper, a direct adaptive fuzzy tracking control is proposed for a class of uncertain single-input single-output nonlinear semi-strict feedback systems. Based on Takagi-Sugeno type fuzzy systems, a direct adaptive fuzzy tracking controller is developed by using the backstepping approach. The main advantage of the developed method is that for an n-th order system, only one parameter is needed to be adjusted online. It is proven that, under the appropriate assumptions, the developed scheme can achieve that the output system converges to a small neighborhood of the reference signal and all the signals in the closed-loop system remain bounded. The efficacy of the proposed algorithm is investigated by an illustrative simulation example of one link robot.