This article studies the robust adaptive tracking control problem of nontriangular nonlinear systems that are affected by multiple state delays rather than the input‐delay. Different from the related studies, the considered systems involve input dead‐zone and various uncertainties arising in the control coefficients, structure parameters, time delays, and disturbances. A new adaptive control strategy is presented by introducing a dynamic‐gain‐based Lyapunov‐Krasovskii functional and by generalizing the tuning function method in the framework of time‐delay system theory. All the states of the closed‐loop system are bounded and the tracking error can be adjusted sufficiently small. In the simulation, the delayed chemical system is studied to demonstrate the validity of the strategy.

中文翻译：

---

具有输入死区和多重不确定性的非三角时滞非线性系统的鲁棒自适应跟踪控制

本文研究了受多个状态延迟而不是输入延迟影响的非三角非线性系统的鲁棒自适应跟踪控制问题。与相关研究不同，所考虑的系统涉及输入死区以及控制系数，结构参数，时间延迟和扰动产生的各种不确定性。通过引入基于动态增益的Lyapunov-Krasovskii泛函并在时滞系统理论的框架内推广调整函数方法，提出了一种新的自适应控制策略。闭环系统的所有状态都是有界的，跟踪误差可以调整得足够小。在仿真中，研究了延迟化学系统以证明该策略的有效性。