Wavelet Adaptive Output Tracking Control for a Class of Delayed Uncertain MIMO Nonlinear Systems Subjected to Actuator Saturation

This paper presents a wavelet based adaptive observer based control strategy for a class of uncertain multiple input multiple output (MIMO) delayed nonlinear systems subjected to actuator saturation. The time delay observer presented in this paper is the extension of observer design for SISO systems. The proposed wavelet adaptive observer performs the task of identification of unknown system dynamics in addition to reconstruction of states of the system. Owing to their superior learning capabilities, wavelet networks are employed in this work for the purpose of identification of unknown system dynamics.Using the feedback control, based on reconstructed states, the behavior of closed loop system is investigated. The fact that the uncertain time delayed system with observer based control converges to the small neighborhood of the origin is established through Lyapunov-Krasovskii functional. A numerical example is provided to verify the effectiveness of theoretical development