Robust Adaptive Control for a Class of Uncertain Nonlinear Systems with Time-Varying Delay

Abstract

We present adaptive neural control design for a class of perturbed nonlinear MIMO time-varying delay systems in a block-triangular form. Based on a neural controller, it is obtained by constructing a quadratic-type Lyapunov-Krasovskii functional, which efficiently avoids the controller singularity. The proposed control guarantees that all closed-loop signals remain bounded, while the output tracking error dynamics converge to a neighborhood of the desired trajectories. The simulation results demonstrate the effectiveness of the proposed control scheme.