Journal
IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS
Volume 34, Issue 1, Pages 499-516Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TSMCB.2003.817055
Keywords
adaptive control; neural networks; nonlinear time-delay systems
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In this paper, adaptive neural control is presented for a class of strict-feedback nonlinear systems with unknown time delays. The proposed design method does not require a priori knowledge of the signs of the unknown virtual control coefficients. The unknown time delays are compensated for using appropriate Lyapunov-Krasovskii functionals in the design. It is proved that the proposed backstepping design method is able to guarantee semi-global uniformly ultimately boundedness of all the signals in the closed-loop. In addition, the output of the system is proven to converge to a small neighborhood of the origin. Simulation results are provided to show the effectiveness of the proposed approach.
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