Adaptive Control of MIMO Nonlinear Systems with Disturbances and Time Delays
【摘要】:正Based on the principle of sliding mode control,an adaptive control scheme is proposed for a class of multiinput multi-output(MIMO) nonlinear time-varying delay systems with unknown dis urbances.Neural networks are used to approximate the unknown nonlinear functions.By choosing appropriate Lyapunov-Krasovskii functionals,unknown time-varying delay uncertainties are compensated for.By utilizing the integral-type Lyapunov function and Young's inequality,the restrictions of the control gain and the assumptions of time-varying delay uncertainties are relaxed.By theoretical analysis,it is shown that all the signals in the closed-loop system are uniformly ultimately bounded.Finally, simulation results are provided to illustrate the effectiveness of the proposed app oach.