Observer-based adaptive control for nonlinear input-delay systems with unknown control directions

Jiali Ma, Guangming Zhuang, Guozeng Cui and Jiaqi Wang

International Journal of Systems Science, 2019, vol. 50, issue 8, 1543-1555

Abstract: This paper investigates the problem of adaptive control for strict-feedback nonlinear systems with input delay and unknown control directions. The Nussbaum function is utilised to deal with the unknown control directions and a novel compensation system is introduced to handle the time-varying input delay. By using neural network(NN) approximation and backstepping approaches, an adaptive NN controller is designed which can guarantee the semi-global boundedness of all the signals in the closed-loop system. Two simulation examples are also given to illustrate the effectiveness of the proposed method.

Date: 2019
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DOI: 10.1080/00207721.2019.1616848

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