Abstract
A decentralized approximation-free control design approach is proposed for interconnected nonlinear time-delay systems with unknown nonaffine pure-feedback nonlinearities. The signs of control coefficient functions derived from the mean value theorem are assumed to be unknown. Control errors are integrated with a priori designable performance functions denoting the bounds of transient and steady-state performance. Based on these integrated errors, a local controller for each subsystem is derived from the recursive design procedure, without the use of function approximators and the repeated differentiations of virtual control laws, where Nussbaum functions are employed to deal with unknown control directions. Compared with the previous multiple approximator-based control results for large-scale systems with unknown nonlinearities, the proposed local approximation-free controller for each subsystem has a simple structure consisting of the integrated errors and the design parameters. All signals in the total closed-loop systems are uniformly ultimately bounded, and the predefined transient and steady-state performance of the tracking error for each subsystem is achieved in the Lyapunov sense.
Published Version
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