Adaptive Dynamic Surface Control for Interconnected Nonlinear Time Delay Systems With Unmodeled Dynamics and Full State Constraints

Abstract

In this study, an adaptive tracking control scheme is developed for interconnected nonlinear time delay systems with asymmetric full state dynamic constraints and unmodeled dynamics by using dynamic surface control(DSC) technique. Firstly, the unstructured uncertainty functions are approximated by using neural network functions(NNS), the unknown output time delay functions are addressed by Lyapunov-Krasovskii functions, the unmodeled dynamic problem is solved by a dynamic signal. Secondly, a state dependent nonlinear functions are constructed to address the asymmetric full state dynamic constraints. To simplify the calculation, an adaptive tracking control strategy is developed base on DSC technique, it could guarantee that the systems states are constrained in the bounds imposed dynamically and the output signal has good tracking effect. Finally, a simulation example is given to show the effectiveness of the developed scheme.