Adaptive Robust Fuzzy Control for a Class of Uncertain Nonlinear Systems in Pure-Feedback Form

This paper studies an adaptive fuzzy control problem for a class of uncertain nonlinear systems in the pure-feedback form. Compared with the existing approaches, the two main advantages are that the proposed algorithm can be implemented by utilizing only one fuzzy logic systems (FLS) approximator and the robustness of the closed-loop system is improved. The proposed adaptive fuzzy control algorithm can guarantee that all the signals of the closed-loop system are uniformly bounded and the tracking errors converge to an arbitrary small neighborhood around zero. The feasibility of the proposed algorithm is obtained by a simulation example.