Bayrak A.Tatlicioglu E.Bidikli B.Zergeroglu E.2024-07-222024-07-222013http://akademikarsiv.cbu.edu.tr:4000/handle/123456789/17178In this work, we propose a new robust adaptive controller for a class of multi-input multi-output nonlinear systems subject to uncertain state delay. The proposed method is proven to yield semi-global asymptotic tracking despite the presence of additive input and output disturbances and parametric uncertainty in the system dynamics. An adaptive desired system compensation in conjunction with a continuous nonlinear integral feedback component is utilized in the design of the controller and Lyapunov-based techniques, are used to prove that the tracking error is asymptotically driven to zero. Numerical simulation results are presented to demonstrate the effectiveness of the proposed method. © 2013 IEEE.EnglishComputer simulationError compensationMIMO systemsNonlinear feedbackAsymptotic trackingInput and outputsMulti-input multi-output nonlinear systemsNonlinear integral feedbackParametric uncertaintiesRobust adaptive controllerRobust-adaptive controlSystem DynamicsAdaptive control systemsConference paper10.1109/ASCC.2013.6606225