Direct Adaptive Controller for Uncertain MIMO Dynamic Systems with Time-varying Delay and Dead-zone Inputs

TL;DR

This paper introduces an adaptive control approach for uncertain MIMO systems with time-varying delays and dead-zone nonlinearities, ensuring stability and accurate tracking.

Contribution

It proposes a novel high-dimensional Lyapunov-Krasovskii functional for global stability and convergence in complex nonlinear MIMO systems with delays and dead zones.

Findings

Guarantees global stability of the system

Ensures convergence of tracking errors to zero

Provides an effective alternative to existing methods

Abstract

This paper presents an adaptive tracking control method for a class of nonlinearly parameterized MIMO dynamic systems with time-varying delay and unknown nonlinear dead-zone inputs. A new high dimensional integral Lyapunov-Krasovskii functional is introduced for the adaptive controller to guarantee global stability of the considered systems and also ensure convergence of the tracking errors to the origin. The proposed method provides an alternative to existing methods used for MIMO time-delay systems with dead-zone nonlinearities.