Adaptive neural network control of nonlinear MIMO time-delay systems with unknown bounds on delay functionals

S.S. Ge, Keng-Peng Tee
Proceedings of the 2005, American Control Conference, 2005.  
This paper proposes an adaptive neural network (NN) tracking controller for a class of multi-input multi-output (MIMO) nonlinear systems with unknown delays. Using a separation technique, the requirement for special assumptions on the bounds of the delay functionals is removed, thereby extending the applicability of the results to a larger class of systems. To deal with uncertain or unknown functions in the system dynamics, including the unknown bounds of the delay functionals, NNs are utilized
more » ... to estimate and compensate for them. Using Lyapunov-Krasovskii functionals and adaptive NN backstepping, it is shown that the proposed controller guarantees all signals to be semi-globally uniformly ultimately bounded (SGUUB) while the outputs track specified desired trajectories.
doi:10.1109/acc.2005.1470753 fatcat:l5i7t55tgzckzcp7hoszwd753e