Adaptive tracking control of uncertain large-scale nonlinear time-delay systems with input saturation

Abstract

This paper investigates the adaptive tracking control problem of uncertain large-scale nonlinear time-delay systems with input saturation. Unknown constants and continuous functions with respect to output or delayed output are allowed in the nonlinear interconnected functions. The dynamic gain control technique is used to study the tracking control problem of considered system, which simplifies design process and form of controller. By introducing a full-order state observer and three dynamic equations, output feedback tracking control scheme is constructed to ensure that all signals of the closed-loop system are globally uniformly ultimately bounded (GUUB). In addition, the tracking error can converge to a small neighbourhood around the origin by selecting appropriate parameters. Finally, a practical example is presented to illustrate the feasibility of the proposed control scheme.