Direct Adaptive Controller for Uncertain MIMO Dynamic Systems with Time-varying Delay and Dead-zone Inputs

摘要

This paper presents an adaptive tracking control method for a class ofnonlinearly parameterized MIMO dynamic systems with time-varying delay andunknown nonlinear dead-zone inputs. A new high dimensional integralLyapunov-Krasovskii functional is introduced for the adaptive controller toguarantee global stability of the considered systems and also ensureconvergence of the tracking errors to the origin. The proposed method providesan alternative to existing methods used for MIMO time-delay systems withdead-zone nonlinearities.