Approximation-based control of nonlinear MIMO time-delay systems

被引：323

作者：

Ge, S. S. ^{[1
]}

Tee, K. P. ^{[1
]}

机构：

[1] Natl Univ Singapore, Dept Elect & Comp Engn, Singapore 117576, Singapore

来源：

AUTOMATICA | 2007年 / 43卷 / 01期

基金：

美国国家科学基金会;

关键词：

adaptive neural control; uncertain time-delay systems; nonlinear MIMO system; Lyapunov-Krasovskii functional;

D O I：

10.1016/j.automatica.2006.08.003

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Approximation-based control is presented for a class of multi-input multi-output (MIMO) nonlinear systems in block-triangular form with unknown state delays. Neural networks (NNs) are utilized to approximate and compensate for unknown functions in the system dynamics, including the unknown bounds of the functions of delayed states. The use of a separation technique removes the need for any assumption on the function of delayed states, and allows the handling of multiple delays in each function of delayed states. By combining the use of Lyapunov-Krasovskii functionals and adaptive NN backstepping, the proposed control guarantees that all closed-loop signals remain bounded, while the outputs converge to a neighborhood of the desired trajectories. Simulation results demonstrate the effectiveness of the proposed scheme. (c) 2006 Elsevier Ltd. All rights reserved.

引用

页码：31 / 43

页数：13

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