Abstract
This paper is concerned with the problem of adaptive neural control for uncertain nonlinear strict-feedback time-delay systems with unknown virtual control coefficients. Radial basis function (RBF) neural networks are employed to directly approximate unknown virtual control signals, and then the adaptive neural control law is constructed by Lyapunov-Krasovskii functionals and backstepping. In order to avoid encountering a large number of adaptive parameters when using RBF neural networks as function approximators, an unknown constant, instead of unknown neural weights themselves, is employed as the estimated parameter. This technique makes only one adaptive parameter tuned online, thus significantly alleviating the burdensome computation. Meanwhile, some continuous functions are introduced to overcome the design difficulty originating from the use of one adaptive parameter. The proposed adaptive control guarantees the boundedness of all the signals in the closed-loop system. Simulation studies are presented to illustrate the effectiveness of the scheme.
Similar content being viewed by others
References
Liu P L, Su T J. Robust stability of interval time-delay systems with delay-dependence. Syst Control Lett, 1998, 33: 231–239
Niculescu S L. Delay Effects on Stability: a Robust Control Approach. New York: Springer-Verlag, 2001
Chen B, Liu X P, Tong S C. New delay-dependent stabilization conditions of T-S fuzzy systems with constant delay. Fuzzy Sets Syst, 2007, 158: 2209–2224
He Y, Wang Q G, Lin C, et al. Delay-range-dependent stability for systems with time-varying delay. Automatica, 2007, 43: 371–376
Tao L, Guo L, Lin C, et al. New results on global asymptotic stability analysis for neural networks with time-varying delays. Nonlin Anal Real World Appl, 2009, 10: 554–562
Gao H, Chen T, Lam J. A new delay system approach to network-based control. Automatica, 2007, 44: 39–52
Kanellakopoulos I, Kokotović P V, Morse A S. Systematic design of adaptive controllers for feedback linearizable systems. IEEE Trans Autom Control, 1991, 36: 1241–1253
Lewis F L, Yesildirek A, Liu K. Robust backstepping control of induction motors using neural networks. IEEE Trans Neural Netw, 2000, 11: 1178–1187
Wang J, Gao H Q, Li H Y. Adaptive robust control of nonholonomic systems with stochastic disturbances. Sci China Ser F-Inf Sci, 2006, 49: 189–207
Polycarpou M M, Mark J M. Stable adaptive tracking of uncertain systems using nonlinearly parameterized on-line approximators. Int J Control, 1998, 70: 363–384
Zhang T, Ge S S, Hang C C. Adaptive neural network control for strict-feedback nonlinear systems using backstepping design. Automatica, 2000, 36: 1835–1846
Ge S S, Wang C. Adaptive NN control of uncertain nonlinear pure-feedback systems. Automatica, 2002, 38: 671–682
Ge S S, Wang J. Robust adaptive neural control for a class of perturbed strict feedback nonlinear systems. IEEE Trans Neural Netw, 2002, 13: 1409–1419
Ge S S, Wang C. Adaptive neural control of uncertain MIMO nonlinear systems. IEEE Trans Neural Netw, 2004, 15: 674–692
Wang M, Chen B, Dai S L. Direct adaptive fuzzy tracking control for a class of perturbed strict-feedback nonlinear systems. Fuzzy Sets Syst, 2007, 158: 2655–2670
Lee H, Tomizuka M. Robust adaptive control using a universal approximator for SISO nonlinear systems. IEEE Trans Fuzzy Syst, 2000, 8: 95–106
Nguang S K. Robust stabilization of a class of time-delay nonlinear systems. IEEE Trans Autom Control, 2000, 45: 756–762
Zhou S S, Feng G, Nguang S K. Comments on robust stabilization of a class of time-delay nonlinear systems. IEEE Trans Autom Control, 2002, 47: 1586–1586
Jiao X, Shen T. Adaptive feedback control of nonlinear time-delay systems: The Lasalle-Razumikhin-based approach. IEEE Trans Autom Control, 2005, 50: 1909–1913
Hua C, Feng G, Guan X. Robust controller design of a class of nonlinear time delay systems via backstepping method. Automatica, 2008, 44: 567–573
Ge S S, Hong F, Lee T H. Adaptive neural network control of nonlinear systems with unknown time delays. IEEE Trans Autom Control, 2003, 48: 2004–2010
Ge S S, Hong F, Lee T H. Adaptive neural control of nonlinear time-delay systems with unknown virtual control coefficients. IEEE Trans Syst Man Cybern-Part B, 2004, 34: 499–516
Hong F, Ge S S, Lee T H. Practical adaptive neural control of nonlinear systems with unknown time delays. IEEE Trans Syst Man Cybern-Part B, 2005, 35: 849–854
Wang M, Chen B, Liu X P, et al. Adaptive fuzzy tracking control for a class of perturbed strict-feedback nonlinear time-delay systems. Fuzzy Sets Syst, 2008, 159: 949–967
Ge S S, Tee K P. Approximation-based control of nonlinear MIMO time-delay systems. Automatica, 2007, 43: 31–43
Ho D W C, Li J M, Niu Y G. Adaptive neural control for a class of nonlinearly parametric time-delay systems. IEEE Trans Neural Net, 2005, 16: 625–635
Wang M, Chen B, Shi P. Adaptive neural control for a class of perturbed strict-feedback nonlinear time-delay systems. IEEE Trans Syst Man Cybern-Part B, 2008, 38: 721–730
Yang Y S, Feng G, Ren J S. A combined backstepping and small-gain approach to robust adaptive fuzzy control for strict-feedback nonlinear systems. IEEE Trans Syst Man Cybern-Part A, 2004, 34: 406–420
Kosmatopoulos E B, Polycarpou M M, Christodoulou M A, et al. High-order neural network structures for identification of dynamical systems. IEEE Trans Neural Networks, 1995, 6: 422–431
Ge S S, Hang C C, Lee T H, et al. Stable Adaptive Neural Network Control. Boston, MA: Kluwer, 2001
Wang C, Hill D J, Ge S S, et al. An ISS-modular approach for adaptive neural control of pure-feedback systems. Automatica, 2006, 42: 723–731
Kurdila A J, Narcowich F J, Ward J D. Persistency of excitation in identification using radial basis function approximants, SIAM J Contr Optim, 1995, 33: 625–642
Apostol T M. Mathematical Analysis. Reading, MA: Addison-Wesley, 1963
Sanner R M, Slotine J E. Gaussian networks for direct adaptive control. IEEE Trans Neural Netw, 1992, 3: 837–863
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
About this article
Cite this article
Wang, M., Zhang, S., Chen, B. et al. Direct adaptive neural control for stabilization of nonlinear time-delay systems. Sci. China Inf. Sci. 53, 800–812 (2010). https://doi.org/10.1007/s11432-010-0075-z
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s11432-010-0075-z