Robust Adaptive Neural Network Control for Nonlinear Mimo Time-delay Systems

This paper proposes an adaptive neural network (NN) controller for a class of multi-input multi-output (MIMO) nonlinear systems with unknown delays, but with known bounds on the delay functionals. The use of a separation technique removes the need to make any assumptions with regard to the structure of the delay functionals, thus making our results applicable to a larger class of systems. Given that the bounds on the delay functionals are known, we can construct LyapunovKrasovskii functionals and adaptive NNs to obtain a controller that guarantees all signals to be semi-globally uniformly ultimately bounded (SGUUB) while the outputs track specified desired trajectories. Copyright c ©2005 IFAC