IEEE Transactions on Systems Man and Cybernetics Part B (Cybernetics) · 2004 · 703 citations · 28 references
Nonlinear ControlNonlinear System IdentificationTime Delay SystemReal-time ControlEngineeringAerospace EngineeringRobust ControlMechanical SystemsIntelligent ControlAdaptive ControlSystems EngineeringBusinessAdaptive Neural ControlNonlinear Time-delay SystemsStrict-feedback Nonlinear SystemsUnknown Time DelaysStability
The paper proposes an adaptive neural control scheme for strict‑feedback nonlinear systems with unknown time delays. The backstepping design uses Lyapunov‑Krasovskii functionals to compensate unknown time delays and does not require prior knowledge of the signs of virtual control coefficients. The method guarantees semiglobal uniformly ultimately boundedness of all signals and drives the output to a small neighborhood of the origin, as shown by simulations.
In this paper, adaptive neural control is presented for a class of strict-feedback nonlinear systems with unknown time delays. The proposed design method does not require a priori knowledge of the signs of the unknown virtual control coefficients. The unknown time delays are compensated for using appropriate Lyapunov-Krasovskii functionals in the design. It is proved that the proposed backstepping design method is able to guarantee semiglobal uniformly ultimately boundedness of all the signals in the closed-loop. In addition, the output of the system is proven to converge to a small neighborhood of the origin. Simulation results are provided to show the effectiveness of the proposed approach.
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