Adaptive Control of Uncertain MIMO Non-affine Nonlinear Systems with Varying Time-delay Based on Weighted High-dimensional Integral Lyapunov-Krasovskii Functional Method

摘要

In this paper, an adaptive controller is designed for a class of MIMO non-affine nonlinear systems. Uncertainties and time-varying delays are addressed by introducing a weighted high-dimensional integral Lyapunov-Krasovskii function. Parameters and functions are chosen in an alternative manner to reach the global stability condition. Moreover, unknown dead-zone is tackled by this controller without any information about that. In the end, numerical simulation of a 2-DOF robot manipulator is examined, and the results show the suitable behavior of the designed controller.