Command Filter Based Adaptive Fuzzy Tracking Control for Pure-Feedback Nonlinear Time-Delay Systems

In the study of a class of pure-feedback nonlinear systems with unknown time delays, a fuzzy adaptive control strategy is proposed by incorporating an error compensation signal from command filter. Fuzzy logic systems approximation techniques are utilized to overcome the uncertain nonlinearities of the systems. The Lyapunov-Krasovskii function is employed to address time-delay terms and mitigate their impact on system stability. Incorporating command filter within the backstepping control scheme helps to alleviate the “explosion of complexity” typically encountered in traditional algorithms. To counteract the effects of filtering errors on system, a compensation signal is introduced. Lyapunov stability theory demonstrates that the designed control technique ensures the system closed-loop signals converge near zero in the closed-loop configuration. In conclusion, a demonstrative example is provided to affirm that the introduced control strategy effectively meets the control objectives.