Adaptive stabilization control for high-order nonlinear time-delay systems with its application

作者：Duan, Na^*; Min, Huifang; Zhang, Zhaojun

来源：Journal of the Franklin Institute, 2017, 354(14): 5825-5838.

DOI：10.1016/j.jfranklin.2017.07.023

• OUTPUT-FEEDBACK STABILIZATION
• HOMOGENEOUS DOMINATION APPROACH
• NEURAL-NETWORK CONTROL
• VARYING DELAY
• GLOBAL STABILIZATION
• STATE-FEEDBACK
• POWER INTEGRATOR

This paper investigates the state-feedback stabilization problem in the smooth case for a class of high-order nonlinear systems with time delays. By generalizing a novel radial basis function neural network (RBF NN) approximation approach to high-order nonlinear systems, we successfully remove the power order restriction and the growth conditions on system nonlinearities. It should be pointed out that the knowledge of NN nodes and weights does not need to be known a priori and operate on-line, and the adaptive parameter is only one. Furthermore, without imposing any growth assumptions on system nonlinearities, we construct a smooth adaptive state-feedback controller which guarantees the closed-loop system to be semi-globally uniformly ultimately bounded (SGUUB). Finally, we apply the proposed scheme to a single-link robot system and a numerical example to demonstrate the effectiveness of the controller.

• 出版日期2017-9
• 单位南京理工大学