Decentralized adaptive tracking quantized control for interconnected pure feedback time delay nonlinear systems

摘要

This paper focuses on the problem of adaptive tracking quantized control for a class of intercon-nected pure feedback time delay nonlinear systems. To satisfy the requirement of prescribed performance on the output tracking error, a novel asymmetric tangent barrier Lyapunov function is developed. The decentralized adaptive controller is designed via backstepping method. To deal with the uncertain interconnected nonlinear functions, we design a new virtual control input in the first step. Instead of estimating the bound of each unknown function, we use the adaptive method to estimate the bound of the composite function which is composed of the unknown functions. Thus the over parameterization problem is avoided. It is proved that the output of each subsystem satisfies the prescribed performance requirement and other state variables are bounded. Finally, the simulations are performed and the results verify the effectiveness of the proposed method. (C) 2018 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.