Neural network-based adaptive finite-time tracking control of switched nonlinear systems with time-varying delay

Highlights：

• The singularity problem of many existing adaptive finite-time control methods for singleinput and single-output nth order nonlinear systems is solved in this article. Additionally, the problem of complexity explosion is solved by dynamic surface technology.

• The restriction on the time delay term (i.e., the time derivative of the time-varying delay needs to be less than 1), has been removed, which is more reasonable and of great use in practical. Furthermore, radial basis function neural networks are introduced to remove the assumption of the growth condition for unknown functions.

• Constructing individual Lyapunov function for the individual subsystem, an adaptive finitetime controller design technique for switched nonlinear systems with time delay is proposed, which ensures that the system is stable within a finite time even if backlash-like hysteresis exists.

摘要

•Within our knowledge, this is the first time to handle the adaptive neural finite-time tracking control problem for uncertain switched nonlinear systems with unknown time-varying delay and backlash-like hysteresis.•The singularity problem of many existing adaptive finite-time control methods for singleinput and single-output nth order nonlinear systems is solved in this article. Additionally, the problem of complexity explosion is solved by dynamic surface technology.•The restriction on the time delay term (i.e., the time derivative of the time-varying delay needs to be less than 1), has been removed, which is more reasonable and of great use in practical. Furthermore, radial basis function neural networks are introduced to remove the assumption of the growth condition for unknown functions.•Constructing individual Lyapunov function for the individual subsystem, an adaptive finitetime controller design technique for switched nonlinear systems with time delay is proposed, which ensures that the system is stable within a finite time even if backlash-like hysteresis exists.