Adaptive fuzzy tracking control of nonlinear systems with input time delay

This paper proposes an adaptive fuzzy logic tracking control for unknown nonlinear systems having input time delay. In the controller design, a filtered tracking error to facilitate handling of the time delay and fuzzy approximation of nonlinear function are introduced. Lyapunov stability analysis shows that the designed tracking control yields bounded signals of the closed-loop system. Two simulation examples are provided to prove the effectiveness of the proposed controller in achieving tracking with bounded control signals.