中文摘要：

在这篇论文，柔韧的适应模糊追踪控制问题为使不安的严格反馈的非线性的系统的一个类被讨论。在 Mamdani 类型的模糊逻辑系统习惯于近似未知非线性的功能。柔韧的适应模糊控制器的一个设计计划被走技术的背的使用建议。建议控制器在导出的靠近环的系统保证半全球的制服得到所有信号的最终的围住的海角；完成好追踪表演。可以在存在适应控制与反馈 linearization 技术策划的一些发生的可能的控制器奇特问题能被避免。另外，联机适应参数的数字是不超过设计系统的顺序。最后，二个模拟例子被用来表明建议控制计划的有效性。

英文摘要：

In this paper, the robust adaptive fuzzy tracking control problem is discussed for a class of perturbed strict-feedback nonlinear systems. The fuzzy logic systems in Mamdani type are used to approximate unknown nonlinear functions. A design scheme of the robust adaptive fuzzy controller is proposed by use of the backstepping technique. The proposed controller guarantees semi-global uniform ultimate boundedness of all the signals in the derived closed-loop system and achieves the good tracking performance. The possible controller singularity problem which may occur in some existing adaptive control schemes with feedback linearization techniques can be avoided. In addition, the number of the on-line adaptive parameters is not more than the order of the designed system. Finally, two simulation examples are used to demonstrate the effectiveness of the proposed control scheme.