NN-Based Output Feedback Tracking of Nonlinear Time-Delay System

Abstract

The robust output tracking control is investigated for a class of time-delay nonlinear systems with triangular structure and unmodeled dynamics. First, an observer is constructed to estimate the unmeasured states with gain matrix scheduled via LIM. With the help of backstepping method and changing supplying function idea, an observer-based neural network (NN) controller is designed and the resulting closed-loop system is ensured to be stable in the sense of semiglobal boundedness. The observer and the controller designed are both independent of the time delay. Finally, numerical simulations are conducted to verify the effectiveness of the main theoretic results obtained.