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Adaptive NN control of uncertain nonaffine pure-feedback systems with unknown time-delay

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6 Author(s)
Xiaoqiang Li ; Marine Engineering College, Dalian Maritime University, 116026, China ; Dan Wang ; Tieshan Li ; Zhouhua Peng
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Adaptive dynamic surface control is presented for a class of nonaffine pure-feedback systems with unknown time-delay using neural networks. The problem of "explosion of complexity" in the traditional backstepping algorithm is avoided using dynamic surface control (DSC). The effects of unknown time-delays are eliminated by using appropriate Lyapunov-Krasovskii functionals in the design procedure. The proposed control scheme guarantees that all the signals in the closed-loop system are semi-globally uniformly ultimately bounded. A simulation example is presented to demonstrate the method.

Published in:

Proceedings of the 2011 American Control Conference

Date of Conference:

June 29 2011-July 1 2011