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Observer-based adaptive control for nonlinear input-delay systems with unknown control directions |
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| Authors: | Jiali Ma Guangming Zhuang Guozeng Cui Jiaqi Wang |
| Affiliation: | 1. School of Automation, Nanjing University of Science and Technology, Nanjing, Jiangsu, People's Republic of Chinama920618@163.com;3. School of Mathematical Sciences, Liaocheng University, Liaocheng, Shandong, People's Republic of China;4. School of Electronic and Information Engineering, Suzhou University of Science and Technology, Suzhou, Jiangsu, People's Republic of China;5. School of Automation, Nanjing University of Science and Technology, Nanjing, Jiangsu, People's Republic of China |
| Abstract: | This paper investigates the problem of adaptive control for strict-feedback nonlinear systems with input delay and unknown control directions. The Nussbaum function is utilised to deal with the unknown control directions and a novel compensation system is introduced to handle the time-varying input delay. By using neural network(NN) approximation and backstepping approaches, an adaptive NN controller is designed which can guarantee the semi-global boundedness of all the signals in the closed-loop system. Two simulation examples are also given to illustrate the effectiveness of the proposed method. |
| Keywords: | Nonlinear systems input delay unknown control directions neural network |
