Tian-Ping Zhang, Cai-Ying Zhou and Qing Zhu. Adaptive Variable Structure Control of MIMO Nonlinear Systems with Time-varying Delays and Unknown Dead-zones. International Journal of Automation and Computing, vol. 6, no. 2, pp. 124-136, 2009. DOI: 10.1007/s11633-009-0124-5
Citation: Tian-Ping Zhang, Cai-Ying Zhou and Qing Zhu. Adaptive Variable Structure Control of MIMO Nonlinear Systems with Time-varying Delays and Unknown Dead-zones. International Journal of Automation and Computing, vol. 6, no. 2, pp. 124-136, 2009. DOI: 10.1007/s11633-009-0124-5

Adaptive Variable Structure Control of MIMO Nonlinear Systems with Time-varying Delays and Unknown Dead-zones

  • In this paper, adaptive variable structure neural control is presented for a class of uncertain multi-input multi-output (MIMO) nonlinear systems with state time-varying delays and unknown nonlinear dead-zones. The unknown time-varying delay uncer- tainties are compensated for using appropriate Lyapunov-Krasovskii functionals in the design. The approach removes the assumption of linear function outside the deadband without necessarily constructing a dead-zone inverse as an added contribution. By utilizing the integral-type Lyapunov function and introducing an adaptive compensation term for the upper bound of the residual and optimal ap- proximation error as well as the dead-zone disturbance, the closed-loop control system is proved to be semi-globally uniformly ultimately bounded. In addition, a modified adaptive control algorithm is given in order to avoid the high-frequency chattering phenomenon. Simulation results demonstrate the effectiveness of the approach.
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