Adaptive Global Stability of Nonlinear Pure-Feedback Systems With Unknown Time-Varying Delays

Author:

Guo Jun1,Wang Yao1,Bo Yuming1

Affiliation:

1. School of Automation, Nanjing University of Science and Technology, Nanjing 210094, China

Abstract

Abstract This paper investigates the backstepping control problem for nonlinear pure-feedback systems with time-varying delays. A virtual controller is designed to counteract the effects caused by the state perturbation of time delay, and improve the stability of the system. The assumption on delay-dependent nonlinearities is further relaxed by a backstepping auxiliary controller and a Lyapunov–Krasovskii functional. A suitable coordinate transformation is introduced to reduce the complexity of computation caused by nonaffine structures. The globally uniform boundedness of the closed-loop signals and the asymptotical stability of the state are proved by Lyapunov–Krasovskii stability theory. Finally, the effectiveness of our method is demonstrated by two illustrations.

Funder

China Postdoctoral Science Foundation

Publisher

ASME International

Subject

Computer Science Applications,Mechanical Engineering,Instrumentation,Information Systems,Control and Systems Engineering

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