Adaptive Neural Control of MIMO Nonstrict-Feedback Nonlinear Systems With Time Delay

Xudong Zhao, Haijiao Yang, Hamid Reza Karimi, Yanzheng Zhu
IEEE Transactions on Cybernetics 2016, 46 (6): 1337-49
In this paper, an adaptive neural output-feedback tracking controller is designed for a class of multiple-input and multiple-output nonstrict-feedback nonlinear systems with time delay. The system coefficient and uncertain functions of our considered systems are both unknown. By employing neural networks to approximate the unknown function entries, and constructing a new input-driven filter, a backstepping design method of tracking controller is developed for the systems under consideration. The proposed controller can guarantee that all the signals in the closed-loop systems are ultimately bounded, and the time-varying target signal can be tracked within a small error as well. The main contributions of this paper lie in that the systems under consideration are more general, and an effective design procedure of output-feedback controller is developed for the considered systems, which is more applicable in practice. Simulation results demonstrate the efficiency of the proposed algorithm.

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