中文摘要：

针对一类具有摄动的严格反馈非线性时滞系统，基于后推设计方法，利用第一类模糊系统的逼近能力，提出了一种新的直接自适应控制方案。该方案避免了虚拟控制增益符号已知的假设。设计中引入连续鲁棒项对系统的摄动部分进行抑制。通过理论分析，证明了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。

英文摘要：

A new design scheme of direct adaptive fuzzy controller for a class of perturbed strict feedback nonlinear time-delay systems is proposed in this paper. The design is based on backstepping and the approximation capability of the first-type fuzzy systems. The proposed design method does not require a priori knowledge of the signs of the unknown virtual control coefficients. A continuous robust term is adopted to minify the influence of modeling error or disturbance. By theoretical analysis, the closed-loop control system is proven to be semiglobally uniformly ultimately bounded, with tracking error converging to a residual set.