Abstract
This paper addresses the adaptive fuzzy tracking control problem for a class of uncertain nonlinear systems with external disturbance and unknown functions. The adaptive fuzzy controllers are designed under the constraint that only system input output is available for measurement. Then, for the unknown nonlinear function, it is needed to design a function compensator to estimate the unmeasured states. A fuzzy disturbance observer is employed to observe the disturbances. For the newly proposed controller, only two parameters need to be adjusted on-line for function compensator and fuzzy disturbance observer. By using Lyapunov analysis method, it has proven that all the signals in the closed-loop system are guaranteed to be bounded and the system outputs track the reference signals to a bounded compact set. The feasibility of the proposed approach is validated by using inverted pendulum system.
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