Observer-based adaptive control for nonlinear input-delay systems with unknown control directions. Issue 8 (11th June 2019)

• Record Type: Journal Article
• Authors: Ma, Jiali; Zhuang, Guangming; Cui, Guozeng; Wang, Jiaqi
• Is Part Of: International journal of systems science. Volume 50:Issue 8(2019)
• Page Start: 1543
• Page End: 1555
• Publication Date: 2019-06-11
• Subjects: Nonlinear systems -- input delay -- unknown control directions -- neural network; System analysis -- Periodicals; 003.3
• DOI: 10.1080/00207721.2019.1616848
• Languages: English
• ISSNs: 0020-7721

Abstract

ABSTRACT: This paper investigates the problem of adaptive control for strict-feedback nonlinear systems with input delay and unknown control directions. The Nussbaum function is utilised to deal with the unknown control directions and a novel compensation system is introduced to handle the time-varying input delay. By using neural network(NN) approximation and backstepping approaches, an adaptive NN controller is designed which can guarantee the semi-global boundedness of all the signals in the closed-loop system. Two simulation examples are also given to illustrate the effectiveness of the proposed method.