Robust adaptive control for a class of MIMO nonlinear systems with time-varying delay
一类MIMO非线性时滞系统的鲁棒自适应控制

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.