Issues of control of nonstrict-feedback systems with unknown control directions and multiple time delays are investigated. The proposed design consists of three major parts, a nominal minimal-learning parameter (MLP) based adaptive neural controller, a supervisory robust controller for pulling back the escaped transients, and the dynamic surface control (DSC) for solving the explosion of complexity and algebraic-loop problems simultaneously. Meanwhile, the Nussbaum gain function (NGF) and the Lyapunov-Krasovskii functional (LKF) are included for handling the unknown control directions and the time delays, respectively. In particular, global instead of the semi-global tracking stability is achieved. Simulation results are provided to show the effectiveness of the proposed approach. (C) 2020 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.
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JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS 卷冊: 358 期: 1 頁數: 533-554
