Adaptive Compensation Tracking Control for Time-Varying Delay Nonlinear Systems with Unknown Actuator Dead Zone

Abstract

This paper concerns the problem of adaptive compensation tracking control for a class of time-varying delay nonlinear systems with unknown structures and unknown actuator dead zones where time-varying delays are unknown. First, a variable separation approach is used to overcome the difficulty in dealing with a nonstrict-feedback structure, and multilayer neural networks are used to approximate the unknown nonlinear structures with time-varying delays. On this basis, we designed an adaptive multilayer neural-network compensation controller to reduce the error of multilayer neural networks. Furthermore, for unknown actuator dead zones, this paper separates the controller and adopts multilayer neural networks to deal with unknown actuator dead zones. In order to reduce the error of the dead-zone controller, wer designed an adaptive compensation controller for the dead zones. Lastly, this paper proves the stability of the systems with the Lyapunov method, and simulation results demonstrate the effectiveness of the scheme.