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Adaptive Tracking Control of a Class of Nonlinear Systems with Input Delay and Dynamic Uncertainties Using Multi-dimensional Taylor Network

Yu-Qun Han, Wen-Jing He, Na Li, and Shan-Liang Zhu*
International Journal of Control, Automation, and Systems, vol. 19, no. 12, pp.4078-4089, 2021

Abstract : This paper concerns on the control problem of a class of nonlinear systems with input delay and dynamic uncertainties using multi-dimensional Taylor Network (MTN) control method. Firstly, a new variable is introduced to eliminate the effect of input delay by combining Padé approximation with Laplace transformation. Secondly, a MTN-backstepping-based control strategy is constructively designed by introducing a new coordinate transformation, and the proposed controller has the advantages of simple structure and good real-time performance. Finally, the effectiveness of the proposed MTN-based control approach is demonstrated by three examples.

Keyword : "Adaptive control, dynamic uncertainties, input delay, multi-dimensional Taylor network, nonlinear systems. "

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