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Adaptive control of MIMO nonlinear systems with disturbances and time delays

Authors :
Qiuqin Zhu
Tianping Zhang
Baicheng Zhu
Source :
2010 Chinese Control and Decision Conference.
Publication Year :
2010
Publisher :
IEEE, 2010.

Abstract

Based on the principle of sliding mode control, an adaptive control scheme is proposed for a class of multi-input multi-output (MIMO) nonlinear time-varying delay systems with unknown dis urbances. Neural networks are used to approximate the unknown nonlinear functions. By choosing appropriate Lyapunov-Krasovskii functionals, unknown time-varying delay uncertainties are compensated for. By utilizing the integral-type Lyapunov function and Young's inequality, the restrictions of the control gain and the assumptions of time-varying delay uncertainties are relaxed. By theoretical analysis, it is shown that all the signals in the closed-loop system are uniformly ultimately bounded. Finally, simulation results are provided to illustrate the effectiveness of the proposed approach.

Details

Database :
OpenAIRE
Journal :
2010 Chinese Control and Decision Conference
Accession number :
edsair.doi...........1c57fba0a5f090c7bb22c0823742c832
Full Text :
https://doi.org/10.1109/ccdc.2010.5499087