Volume 10 Number 3
June 2013
Article Contents
Xiao-Cheng Shi and Tian-Ping Zhang. Adaptive Tracking Control of Uncertain MIMO Nonlinear Systems with Time-varying Delays and Unmodeled Dynamics. International Journal of Automation and Computing, vol. 10, no. 3, pp. 194-201, 2013. doi: 10.1007/s11633-013-0712-2
Cite as: Xiao-Cheng Shi and Tian-Ping Zhang. Adaptive Tracking Control of Uncertain MIMO Nonlinear Systems with Time-varying Delays and Unmodeled Dynamics. International Journal of Automation and Computing, vol. 10, no. 3, pp. 194-201, 2013. doi: 10.1007/s11633-013-0712-2

Adaptive Tracking Control of Uncertain MIMO Nonlinear Systems with Time-varying Delays and Unmodeled Dynamics

Author Biography:
  • Xiao-Cheng Shi received the B. Eng. degree in automation from Yangzhou Uni-versity, China in 2010. She is currently a master student in control theory and con-trol engineering at Yangzhou University, China. Her research interests include robust adaptive control, dynamic surface control, and nonlinear control. E-mail: xiaocheng_shi@163.com

  • Received: 2012-09-21
Fund Project:

This work was supported by National Natural Science Foundation of China (No. 61174046).

通讯作者: 陈斌, bchen63@163.com
  • 1. 

    沈阳化工大学材料科学与工程学院 沈阳 110142

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Adaptive Tracking Control of Uncertain MIMO Nonlinear Systems with Time-varying Delays and Unmodeled Dynamics

Fund Project:

This work was supported by National Natural Science Foundation of China (No. 61174046).

Abstract: In this paper, adaptive neural tracking control is proposed based on radial basis function neural networks (RBFNNs) for a class of multi-input multi-output (MIMO) nonlinear systems with completely unknown control directions, unknown dynamic disturbances, unmodeled dynamics, and uncertainties with time-varying delay. Using the Nussbaum function properties, the unknown control directions are dealt with. By constructing appropriate Lyapunov-Krasovskii functionals, the unknown upper bound functions of the time-varying delay uncertainties are compensated. The proposed control scheme does not need to calculate the integral of the delayed state functions. Using Young's inequality and RBFNNs, the assumption of unmodeled dynamics is relaxed. By theoretical analysis, the closed-loop control system is proved to be semi-globally uniformly ultimately bounded.

Xiao-Cheng Shi and Tian-Ping Zhang. Adaptive Tracking Control of Uncertain MIMO Nonlinear Systems with Time-varying Delays and Unmodeled Dynamics. International Journal of Automation and Computing, vol. 10, no. 3, pp. 194-201, 2013. doi: 10.1007/s11633-013-0712-2
Citation: Xiao-Cheng Shi and Tian-Ping Zhang. Adaptive Tracking Control of Uncertain MIMO Nonlinear Systems with Time-varying Delays and Unmodeled Dynamics. International Journal of Automation and Computing, vol. 10, no. 3, pp. 194-201, 2013. doi: 10.1007/s11633-013-0712-2
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