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In this paper, the problem of fuzzy adaptive control of unknown nonlinear fractional-order systems with external disturbances and unknown control directions is studied. We exploit a decomposition of the control gain matrix into a symmetric positive-definite matrix, a diagonal matrix with diagonal entries + 1 or 1 , and a unity upper triangular matrix. Fuzzy logic systems are used for estimating the unknown nonlinear functions. Based on the fractional Lyapunov direct method and some proposeddoi:10.1155/2020/6677704 fatcat:gu357kuhfzepvk42mkm352wh2q