Adaptive fuzzy tracking control of nonlinear MIMO systems with time-varying delays

This paper focuses on the problem of adaptive fuzzy tracking control for a class of nonlinear multi-input and multi-output (MIMO) time-delay systems in strict-feedback form. The time delays in the systems may be time-varying. Based on Razumikhin functional method, the state feedback adaptive fuzzy tracking controllers are constructed via backstepping technique. The proposed adaptive fuzzy controllers guarantee that all the signals in the closed-loop system are bounded and the system's outputs converge to a small neighborhood of the reference signals. Three examples are used to illustrate the effectiveness of the proposed approach.