This paper presents an adaptive fuzzy controller for a class of unknown nonlinear systems over network. The network-induced delays can degrade the performance of the networked control systems (NCSs) and also can destabilize the system. Moreover, the seriousness of the delay problem is aggravated when packet losses occur during a transmission of data. The proposed controller uses a filtered tracking error to cope the time-varying network-induced delays. It is also robust enough to cope some packet losses in the system. Fuzzy logic systems (FLSs) are used to approximate the unknown nonlinear functions that appear in the tracking controller. Based on Lyapunov stability theory, the constructed controller is proved to be asymptotically stable. Stability of the adaptive fuzzy controller is guaranteed in the presence of bounded external disturbance, time-varying delays, and data packet dropouts. Simulated application of the inverted pendulum tracking illustrates the effectiveness of the proposed technique with comparative results.
Adaptive Fuzzy Controller for a Class of Nonlinear Systems Using Tunable Triangular Membership Functions
