Adaptive tracking control of a class of MIMO nonlinear systems with time-varying delay and dead-zone inputs

This paper considers a class of nonlinearly parameterized MIMO systems with state time-varying delay systems and unknown nonlinear dead-zones. A new version of high dimensional integral Lyapunov function is introduced to construct a Lyapunov-based adaptive control structure, which does not try to cancel the coupling matrix for linearizing the system. Under both state time delay and deadzone inputs, the stability of the closed-loop system is guaranteed and the tracking errors converge to the origin. Simulation results using 2-DOF robotic manipulators demonstrate the effectiveness of the proposed approach.