Letters: Adaptive tracking control for input delayed MIMO nonlinear systems

Authors:
Qing Zhu;Tianping Zhang;Shumin Fei
Affiliations:
College of Information Engineering, Yangzhou University, Yangzhou 225009, China;College of Information Engineering, Yangzhou University, Yangzhou 225009, China;School of Automation, Southeast University, Nanjing 210096, China
Venue:
Neurocomputing
Year:
2010

Citing 12
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Abstract

An adaptive control scheme combined with backstepping, radial basis function (RBF) neural networks is proposed for the output tracking control problem of a class of MIMO nonlinear systems with input delay and disturbances. Neural networks are employed to estimate the unknown continuous functions. The control scheme ensures that the closed-loop system is semi-globally uniformly ultimately bounded (SGUUB). The tracking error is proved to be bounded and ultimately converges to an adequately small compact set. The feasibility is investigated by a simulation example.