Novel adaptive controller design for a class of switched nonlinear systems subject to input delay using multi‐dimensional Taylor network

• Published in: International journal of adaptive control and signal processing Vol. 36; no. 3; pp. 607 - 624
• Main Authors: He, Wen‐Jing, Han, Yu‐Qun, Li, Na, Zhu, Shan‐Liang
• Format: Journal Article
• Language: English
• Published: Hoboken, USA John Wiley & Sons, Inc 01.03.2022; Wiley Subscription Services, Inc
• Subjects: Adaptive control; Control systems design; Controllers; Delay; input delay; Laplace transforms; multi‐dimensional Taylor network; Nonlinear systems; switched nonlinear systems; Tracking control; Tracking errors
• ISSN: 0890-6327; 1099-1115
• DOI: 10.1002/acs.3362

For the tracking control problem of a class of switched nonlinear systems with input delay, this article proposes an adaptive tracking control scheme based on multi‐dimensional Taylor network (MTN) approach. First, Padé approximation and Laplace transform are employed to overcome the problem of input delay, and a new variable is introduced. Second, the MTNs are used to approximate the uncertain nonlinear structures in the process of controller design via backstepping. The results show that the controller designed in this article can keep all the signals in the closed‐loop system are bounded, meanwhile, the output tracking error can be converged to arbitrarily small. It should be pointed out that MTN‐based approach is applied to switched nonlinear systems subject to input delay for the first time. Finally, three examples are presented to verify the effectiveness of the proposed control strategy.