Journal
NEURAL COMPUTING & APPLICATIONS
Volume 27, Issue 4, Pages 1041-1052Publisher
SPRINGER LONDON LTD
DOI: 10.1007/s00521-015-1919-7
Keywords
Adaptive control; Single function approximator; Unknown state delays; Backstepping
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Funding
- MSIP (Ministry of Science, ICT and Future Planning), Korea under ITRC (Information Technology Research Center) [IITP-2015-H8501-15-1018]
- Basic Science Research Program through National Research Foundation of Korea (NRF) - Ministry of Education [NRF-2014R1A1A2055753]
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This paper presents a simple adaptive control approach for uncertain strict-feedback nonlinear systems with unknown time-varying delays. All nonlinear functions and time delays in the systems are assumed to be unknown. Compared with the existing works, the contribution of this study is the design of a simple adaptive control law using single function approximator, without the implementation of virtual controllers derived from the backstepping design procedure. Unlike the existing backstepping methods, virtual controllers are only used as intermediate signals for designing the actual control. Therefore, the proposed control scheme is simpler than the existing methods for strict-feedback time-delay systems because the problems of using multiple approximators and calculating virtual controllers are eliminated. In addition, it is shown that all signals in the closed-loop system are uniformly ultimately bounded.
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