Adaptive Intelligent Control of Nonaffine Nonlinear Time-Delay Systems With Dynamic Uncertainties

Adaptive neural intelligent control is investigated for a class of pure-feedback nonlinear time-delay systems with unmodeled dynamics in nonlower-triangular form, which views the lower-triangular structure as a special structure. A variable partition technique is applied to surmount the difficulty in the nonlinear functions of whole state variables. By utilizing the backstepping recursive design approach and the universal approximation capability of neural networks, an adaptive neural controller is systemically designed. Then, based on the utilization of Lyapunov-Krasovskii functionals, the semiglobally uniform boundedness of all closed-loop signals is guaranteed. Finally, the suggested control method is verified through a numerical example. The main advantage of this paper is that an intelligent control method is developed for pure-feedback nonlinear systems with state time delay, unmodeled dynamics and nonlower triangular form. Further developments will focus on how to deal with the problem of output feedback control of pure-feedback nonlinear time-delay systems with unmodeled dynamics and nonlower-triangular structure.