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The Scientific World Journal
Volume 2013 (2013), Article ID 963986, 8 pages
http://dx.doi.org/10.1155/2013/963986
Research Article

Robust Adaptive Control for a Class of Uncertain Nonlinear Systems with Time-Varying Delay

1Computer and Information Engineering College, Guangxi Teachers Education University, Nanning 530023, China
2Yantai Nanshan Vocational Technology School, Yantai, China
3School of Mathematical Sciences, Guangxi Teachers Education University, Nanning 530023, China
4Department of Basic Courses, Haikou College of Economics, Haikou, China

Received 27 February 2013; Accepted 23 May 2013

Academic Editors: Y.-M. Cheung and Y. Wang

Copyright © 2013 Ruliang Wang 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.

Abstract

We present adaptive neural control design for a class of perturbed nonlinear MIMO time-varying delay systems in a block-triangular form. Based on a neural controller, it is obtained by constructing a quadratic-type Lyapunov-Krasovskii functional, which efficiently avoids the controller singularity. The proposed control guarantees that all closed-loop signals remain bounded, while the output tracking error dynamics converge to a neighborhood of the desired trajectories. The simulation results demonstrate the effectiveness of the proposed control scheme.