Adaptive Multi-Dimensional Taylor Network Tracking Control of Time-Varying Delay Nonlinear Systems Subject to Input Saturation

For the tracking control problem of a class of nonlinear systems with input saturation constraint and time-varying delay, an adaptive tracking control scheme based on multi-dimensional Taylor network (MTN) is designed, and the proposed control scheme has the advantages of simple structure and small computation. A Gaussian error function is introduced to transform the input saturation into a linear model with bounded error. The Lyapunov-Krasovskii function is constructed, and the nonlinearity of the system is approximated using MTN, and an adaptive control strategy is constructed based on the backstepping method. The results show that the proposed control method can both ensure that all signals in the closed-loop system are bounded and achieve convergence of the tracking error to a small neighborhood near the origin. Numerical simulations verify the effectiveness of the method.

Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering