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Approximation-based adaptive tracking of a class of uncertain nonlinear time-delay systems in nonstrict-feedback form

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  • Sung Jin Yoo

Abstract

This paper investigates a predefined performance control problem for adaptive tracking of uncertain nonlinear time-delay systems in nonstrict-feedback form. Nonstrict-feedback nonlinearities, time-varying delays and external disturbances are assumed to be unknown. Based on the exponential decaying design functions denoting the preassigned bounds of transient and steady-state tracking errors, some variable separation lemmas are derived to design an approximation-based robust adaptive control scheme in the presence of nonstrict-feedback time-delayed nonlinearities. The proposed control system guarantees that a tracking error remains within a predesigned bound for all t ≥ 0 and converges to a preselected neighbourhood of the origin. Compared with the existing results in the literature, the main contribution of this paper is to provide a solution on the guaranteed performance control in the presence of unknown nonstrict-feedback nonlinearities related to all delayed state variables. Simulation results illustrate the effectiveness of the proposed methodology.

Suggested Citation

  • Sung Jin Yoo, 2017. "Approximation-based adaptive tracking of a class of uncertain nonlinear time-delay systems in nonstrict-feedback form," International Journal of Systems Science, Taylor & Francis Journals, vol. 48(7), pages 1347-1355, May.
    • Handle: RePEc:taf:tsysxx:v:48:y:2017:i:7:p:1347-1355
    DOI: 10.1080/00207721.2016.1256450
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    Cited by:

    1. Hyoung Oh Kim & Sung Jin Yoo, 2018. "Decentralised disturbance-observer-based adaptive tracking in the presence of unmatched nonlinear time-delayed interactions and disturbances," International Journal of Systems Science, Taylor & Francis Journals, vol. 49(1), pages 98-112, January.
    2. Jeong, Dong Min & Yoo, Sung Jin, 2021. "Adaptive event-triggered tracking using nonlinear disturbance observer of arbitrarily switched uncertain nonlinear systems in pure-feedback form," Applied Mathematics and Computation, Elsevier, vol. 407(C).

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