中文摘要：

研究了一类单输入单输出非线性系统的自适应跟踪问题,提出了一种直接自适应模糊Backstepping控制策略,与传统的Backstepping自适应控制方法相比,控制器的设计更为简单。通过理论分析,证明闭环系统是半全局一致终结有界的;跟踪误差收敛到一个小的残差集内.仿真结果表明了该方法的有效性。

英文摘要：

The adaptive tracking problem was discussed for a class of SISO nonlinear systems and direct adaptive fuzzy backstepping control was given. The scheme of control is much simpler than those given by commonly adopted methods, with much simple controller designed. By theoretical analysis, the closed-loop system was proven to be semiglobally, uniformly and ultimately bounded, with tracking error converging to a residual set. Simulation results demonstrated the effectiveness of the approach.