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Mathematical Problems in Engineering
Volume 2018, Article ID 8410360, 11 pages
Research Article

Adaptive Constrained Control for Uncertain Nonlinear Time-Delay System with Application to Unmanned Helicopter

1College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China
2School of Mechanical and Electrical Engineering, Zaozhuang University, Zaozhuang 277160, China
3School of Electronics and Information, Jiangsu University of Science and Technology, Zhenjiang 212003, China

Correspondence should be addressed to Qingxian Wu; nc.ude.aaun@naixgniquw

Received 30 June 2017; Revised 16 September 2017; Accepted 26 September 2017; Published 13 February 2018

Academic Editor: Libor Pekař

Copyright © 2018 Rong Li et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper investigates a class of nonlinear time-delayed systems with output prescribed performance constraint. The neural network and DOB (disturbance observer) are designed to tackle the uncertainties and external disturbance, and prescribed performance function is constructed for the output prescribed performance constrained problem. Then the robust controller is designed by using adaptive backstepping method, and the stability analysis is considered by using Lyapunov-Krasovskii. Furthermore, the proposed method is employed into the unmanned helicopter system with time-delay aerodynamic uncertainty. Finally, the simulation results illustrate that the proposed robust prescribed performance control system achieved a good control performance.