针对一类单输入单输出非线性多时滞系统, 提出了一种自适应模糊跟踪控制方案. 该方案结合了自适应控制和$H_{\mathrm{\infty }}$控制.构建了自适应时滞模糊逻辑系统用来逼近未知时滞函数；设计了$H_{\mathrm{\infty }}$补偿器来抵消模糊逼近误差和外部扰动. 根据跟踪误差给出了参数调节规律.证明了误差闭环系统满足期望的$H_{\mathrm{\infty }}$跟踪性能.仿真结果表明了该方案的有效性.

A direct adaptive fuzzy tracking control scheme is proposed for a class of SISO nonlinear systems with multiple time delays. The control scheme combines adaptive control with H∞control. Adaptive fuzzy logic systems with time delays are constructed to approximate the unknown functions with time delays. An H∞ compensator is designed to eliminate fuzzy approximation errors and external disturbances. The adaptive laws of the parameters are derived by the tracking error. It is proved that the error closed-loop system satisfies the expected H∞ tracking performance. The effectiveness of the proposed control scheme is demonstrated by a simulation example.