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Title: Approximation-based control of nonlinear MIMO time-delay systems
Authors: Ge, S.S. 
Tee, K.P.
Keywords: Adaptive neural control
Lyapunov-Krasovskii functional
Nonlinear MIMO system
Uncertain time-delay systems
Issue Date: Jan-2007
Citation: Ge, S.S., Tee, K.P. (2007-01). Approximation-based control of nonlinear MIMO time-delay systems. Automatica 43 (1) : 31-43. ScholarBank@NUS Repository.
Abstract: Approximation-based control is presented for a class of multi-input multi-output (MIMO) nonlinear systems in block-triangular form with unknown state delays. Neural networks (NNs) are utilized to approximate and compensate for unknown functions in the system dynamics, including the unknown bounds of the functions of delayed states. The use of a separation technique removes the need for any assumption on the function of delayed states, and allows the handling of multiple delays in each function of delayed states. By combining the use of Lyapunov-Krasovskii functionals and adaptive NN backstepping, the proposed control guarantees that all closed-loop signals remain bounded, while the outputs converge to a neighborhood of the desired trajectories. Simulation results demonstrate the effectiveness of the proposed scheme. © 2006 Elsevier Ltd. All rights reserved.
Source Title: Automatica
ISSN: 00051098
DOI: 10.1016/j.automatica.2006.08.003
Appears in Collections:Staff Publications

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