Fuzzy Robust Tracking Control for Uncertain Nonlinear Time-Delay System

Zhenbin Du, Tsung Chih Lin, Tiebiao Zhao


The problem of fuzzy robust tracking control is investigated for uncertain nonlinear time-delay systems. The nonlinear time-delay system is modeled as uzzy Takagi-Sugeno (T-S) system, and fuzzy logic systems are used to eliminate the ncertainties of the system. A sufficient condition for the existence of fuzzy controller s given in terms of linear matrix inequalities (LMIs) and adaptive law. Based on yapunov stability theorem, the fuzzy control scheme guarantees the desired tracking erformance in sense that all the closed-loop signals are uniformly ultimately bounded (UUB). Simulation results of 2-link manipulator demonstrate the effectiveness of the eveloped control scheme.


fuzzy T-S model; fuzzy logic systems; nonlinear system; time-delay; tracking control

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DOI: https://doi.org/10.15837/ijccc.2015.6.2072

Copyright (c) 2017 Zhenbin Du, Tsung Chih Lin, Tiebiao Zhao

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