Command-filter-based adaptive neural tracking control for a class of nonlinear MIMO state-constrained systems with input delay and saturation

Abstract

This paper investigates the problem of adaptive tracking control for a class of nonlinear multi-input and multi-output (MIMO) state-constrained systems with input delay and saturation. During the process of the control scheme, neural network is employed to approximate the unknown nonlinear uncertainties and the appropriate barrier Lyapunov function is introduced to prevent violation of the constraint. In addition, for the issue of input saturation with time delay, a smooth non-affine approximate function and a novel auxiliary system are utilized, respectively. Moreover, adaptive neural tracking control is developed by combining the command filtering backstepping approach, which effectively avoids the explosion of differentiation and reduces the computation burden. The introduced filtering error compensating system brings a significant improvement for the system tracking performance. Finally, the simulation result is presented to verify the feasibility of the proposed strategy.