This brief proposes a simple control approach for a class of uncertain nonlinear systems with unknown time delays in strict-feedback form. That is, the dynamic surface control technique, which can solve the "expl...
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This brief proposes a simple control approach for a class of uncertain nonlinear systems with unknown time delays in strict-feedback form. That is, the dynamic surface control technique, which can solve the "explosion of complexity" problem in the backstepping design procedure, is extended to nonlinear systems with unknown time delays. The unknown time-delay effects are removed by using appropriate Lyapunov-Krasovsii functionals, and the uncertain nonlinear terms generated by this procedure as well as model uncertainties are approximated by the function approximation technique using neural networks. In addition, the bounds of external disturbances are estimated by the adaptive technique. From the Lyapunov stability theorem, we prove that all signals in the closed-loop system are semiglobally uniformly bounded. Finally, we present simulation results to validate the effectiveness of the proposed approach.
A decentralized adaptive methodology is presented for large-scale nonlinear systems with model uncertainties and time-delayed interconnections unmatched in control inputs. The interaction terms with unknown time-varyi...
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A decentralized adaptive methodology is presented for large-scale nonlinear systems with model uncertainties and time-delayed interconnections unmatched in control inputs. The interaction terms with unknown time-varying delays are bounded by unknown nonlinear bounding functions related to all states and are compensated by choosing appropriate Lyapunov-Krasovskii functionals and using the function approximation technique based on neural networks. The proposed memoryless local controller for each subsystem can simply be designed by extending the dynamic surface design technique to nonlinear systems with time-varying delayed interconnections. In addition, we prove that all the signals in the closed-loop system are semiglobally uniformly bounded, and the control errors converge to an adjustable neighborhood of the origin. Finally, an example is provided to illustrate the effectiveness of the proposed control system.
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