针对一类具有复杂系统函数和控制增益不确定的非线性系统进行了研究。采用一个模糊系统逼近所研究的复杂系统函数 ,该模糊系统被用于逼近系统中不确定性的上界 ;并提出了一个自适应鲁棒模糊控制方案 ,该方案能够保证闭环系统以指定的速率指数收敛于平衡点的一个余集球域。最后以减摇控制船舶横摇稳定性为例对所提出的方法进行了验证 ,结果表明 ,在有外界干扰和不确定性存在的情况下 ,所提出的控制方案使得所设计的系统具有较为理想的鲁棒性 A class of nonlinear systems with complex system functions and uncertain control gains are studied. A fuzzy system is used to approximate the complex system functions studied. The fuzzy system is used to approximate the upper bound of uncertainties in the system. An adaptive robust fuzzy control scheme is proposed to ensure that the closed-loop system can operate at a specified rate The index converges to a surplus field of the equilibrium point. Finally, the proposed method is validated by the example of roll stability control of ship swaying control. The results show that the proposed control scheme makes the designed system more ideal in the presence of external disturbances and uncertainties Robustness