Adaptive fuzzy control for a class of non-affine systems

A fuzzy robust adaptive control design scheme is developed for a class of uncertain non-affine system represented by input-output models. Fuzzy logic systems and Nussbaum control technique are used to approximate the unknown part of the discussed system and to settle the problem that is due to unknown control direction, respectively. Based on the Lyapunov stability theory, it is proved that with the proposed control law and update laws, the closed-loop system is guaranteed to be semi-globally uniformly ultimately bounded. A simulation example is presented to demonstrate the method.