Adaptive fuzzy-based tracking control for switched lower triangular nonlinear systems with time-delays

In this paper, an adaptive fuzzy output tracking control approach is proposed for a class of switched lower triangular nonlinear systems with time-delays. In the design process, the common Lyapunov function (CLF) method combined with the recursive backstepping technique and Lyapunov-Krasovskii functionals is used to construct a state feedback controller, and fuzzy logic systems are applied to approximate the unknown nonlinear functions. The constructed controller assures that all signals in the closed-loop system are bounded and the system output eventually converges to a small neighborhood of the desired reference signal.