Adaptive neural control of nonlinear time-delay systems with unknown virtual control coefficients

Authors:
S. S. Ge;Fan Hong;Tong Heng Lee
Affiliations:
Dept. of Electr. & Comput. Eng., Nat. Univ. of Singapore, Singapore;-;-
Venue:
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Year:
2004

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Abstract

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 semi-global 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.