Adaptive asymptotic tracking control of uncertain nonlinear time-delay systems depended on delay estimation information

Highlights：

• A novel adaptive control strategy for compensating approximation errors and residual errors is proposed. The upper bounds of fuzzy approximation errors and residual errors are properly estimated by establishing appropriate adaptive laws. Once the upper bounds are reached, the tracking error will be forced to keep sliding along the origin.

• Under the well-designed control strategy, the system output exactly tracks the reference signal in spite of the presence of mismatched uncertain nonlinearities and unknown time delays.

摘要

•A novel adaptive tracking control scheme based on delay estimation information is developed. Unknown time delays are estimated with the help of adaptation mechanism and projection operator, which abandons the use of Lyapunov-Krasovskii functional method and avoids the discussion of controller singularity problem.•A novel adaptive control strategy for compensating approximation errors and residual errors is proposed. The upper bounds of fuzzy approximation errors and residual errors are properly estimated by establishing appropriate adaptive laws. Once the upper bounds are reached, the tracking error will be forced to keep sliding along the origin.•Under the well-designed control strategy, the system output exactly tracks the reference signal in spite of the presence of mismatched uncertain nonlinearities and unknown time delays.