针对一类具有非线性输入的MIMO时变时滞系统,基于变结构控制原理,提出了一种稳定自适应控制器设计的新方案.该方案通过使用Lyapunov-Krasovskii(L-K)泛函抵消了因未知时变时滞带来的系统不确定性;进一步,利用Young's不等式和参数自适应估计取消了非线性死区输入模犁和不确定项假设中各种参数均为已知的要求.通过理论分析,证明了闭环控制系统半全局一致终结有界,跟踪误差收敛到零的一个邻域内.%A new variable structure adaptive control scheme is proposed for a class of uncertain multi-input and multi-output(MIMO) nonlinear systems with nonlinear input and time-varying delays. The unknown time-varying delay is compensated by using Lyapunov-Krasovskii(L-K) functionals in the design. Furthermore, using the Young inequality and the parameter adaptive estimation, the parameters in the nonlinear dead-zone models and the lumped uncertainty are not necessary to be known. By theoretical analysis, the closed-loop control system is proved to be semi-global uniformly ultimately bounded(UUB), and the output tracking error converges to a neighborhood of zero.
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