Neural Networks-Based Adaptive Control for Nonlinear State Constrained Systems With Input Delay
Abstract
This paper addresses the problem of adaptive tracking control for a class of strict-feedback nonlinear state constrained systems with input delay. To alleviate the major challenges caused by the appearances of full state constraints and input delay, an appropriate barrier Lyapunov function and an opportune backstepping design are used to avoid the constraint violation, and the Pade approximation and an intermediate variable are employed to eliminate the effect of the input delay. Neural networks are employed to estimate unknown functions in the design procedure. It is proven that the closed-loop signals are semiglobal uniformly ultimately bounded, and the tracking error converges to a compact set of the origin, as well as the states remain within a bounded interval. The simulation studies are given to illustrate the effectiveness of the proposed control strategy in this paper.
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This paper simultaneously considers the influence of both backlash-like hysteresis and input delay in nonstrict-feedback nonlinear systems.
“Unlike studies such as [16,17], which focus solely on backlash hysteresis, or [31,32], which primarily address input delay, this paper simultaneously considers the influence of both backlash-like hysteresis and input delay in nonstrict-feedback nonlinear systems.”
From Fixed-Time Adaptive Control for Nonstrict-Feedback Nonlinear Systems with Input Delay and Unknown Backlash-Like Hysteresis (2025) · cites this paper as [31]
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- Authors
- Li, D.-P., Liu, Y.-J., Tong, S., Chen, C. L. P., & Li, D.-J.
- Affiliations
- Liaoning University of Technology (CN)
- University of Macau (MO)
- Venue
- IEEE Transactions on Cybernetics
- Published
- 2019-04
- Volume
- 49
- Issue
- 4
- Pages
- 1249-1258
- ISSN
- 2168-2267 (ISSN-L)
- 2168-2275
- OpenAlex
- W2790630269
- Cited by
- 382
- References
- 74
- Citations by year
- 2026: 23 · 2025: 33 · 2024: 50 · 2023: 38 · 2022: 49 · 2021: 43 · 2020: 72 · 2019: 48 · 2018: 25 · 2014: 1
- FWCI
- 29.08
- Type
- journal article
- Language
- en
- Open access
- closed
- Licence
- Locations
- IEEE Transactions on Cybernetics (publishedVersion)
- PubMed (publishedVersion)
- Funders
- National Natural Science Foundation of China (61622303, 61603164, 61773188)
- Program for Liaoning Innovative Research Team in University (LT2016006)
- Fundamental Research Funds for the Universities of Liaoning Province (JZL201715402)
- Program for Distinguished Professor of Liaoning Province
- Topics
- Physical Sciences › Engineering › Control and Systems Engineering › Adaptive Control of Nonlinear Systems
- Physical Sciences › Engineering › Control and Systems Engineering › Stability and Control of Uncertain Systems
- Physical Sciences › Computer Science › Computer Networks and Communications › Neural Networks Stability and Synchronization
- Keywords
- adaptive tracking control, strict-feedback nonlinear systems, state constraints, input delay, barrier Lyapunov function, backstepping control, Padé approximants, neural network function approximation, semi-global uniform ultimate boundedness, constraint violation avoidance
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