Wavelet based control for a class of delayed nonlinear systems with input constraints

In this paper, a delay independent adaptive control strategy is presented for a class of uncertain, delayed nonlinear system subjected to actuator saturation. In proposed control scheme wavelet networks are used for approximation of unknown system dynamics as well as a wavelet based compensator is designed to deal with actuator saturation. Delayed wavelet networks are used for identification of unknown system dynamics having state delayed terms, thereby the approximation capabilities of delayed wavelet network are utilized. Adaptation laws are developed for the online tuning of wavelet parameters. Adaptation singularity problem is solved by employing a switching scheme. The stability of closed loop system and ultimate upper boundedness all closed loop signals is proved by constructing a Lyapunov–Krasovskii functional.