%0 Journal Article
%T Robust adaptive control for a class of MIMO nonlinear systems with time-varying delay<br>一类MIMO非线性时滞系统的鲁棒自适应控制
%A WANG Qin
%A ZHANG Tian-ping
%A <br>王芹
%A 张天平
%J 控制理论与应用
%D 2009
%I 
%X A new variable structure adaptive control scheme is proposed for a class of uncertain multi-input and multioutput(MIMO) nonlinear systems with nonlinear input and time-varying delays. The unknown time-varying delay is compensated by using Lyapunov-Krasovskii(L-K) functionals in the design. Furthermore, using the Young inequality and the parameter adaptive stimation, the parameters in the nonlinear dead-zone models and the lumped uncertainty are not ecessary to be known. By theoretical analysis, the closed-loop control system is proved to be semi-global uniformly ultimately bounded(UUB), and the output tracking error converges to a neighborhood of zero.
%K adaptive control
%K time-varying delay
%K semi-global uniformly ultimately bounded<br>自适应控制
%K 时滞
%K 一致终结有界
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=970898A57DFC021F93AB51667BAED7F7&aid=CF3B056448BC6BEECC0680CD1264E51B&yid=DE12191FBD62783C&vid=96C778EE049EE47D&iid=F3090AE9B60B7ED1&sid=9905045FEE51B18F&eid=D610BE6A5A0C75BF&journal_id=1000-8152&journal_name=控制理论与应用&referenced_num=0&reference_num=18