Observer-Based Adaptive Fuzzy Predefined Performance Control of a Class of Nonlinear Pure-Feedback Systems with Input Delay

摘要: This paper presents a problem of observer-based adaptive fuzzy predefined performance control class nonlinear pure-feedback systems with input delay and unknown direction. Compared the existing research, novel controller is proposed, which relaxes assumption that initial error known. In addition, it difficult to design controllers due nonaffine properties systems, can be simplified by Pade approximation. Moreover, dynamic surface Nussbaum functions are applied overcome calculation explosion caused repeated differentiations direction, respectively. Based on above methods, an proved all signals closed-loop system semiglobally uniformly ultimately bounded (SGUUB). The tracking errors converge within range, while observer estimation small zero region. Finally, simulation results demonstrate effectiveness proposed system.