Aiming at a class of uncertain nonlinear time-delay systems, an integral variable structure indirect adaptive neural network control scheme with supervisory controller is designed based on the variable structure control principle and the function approximation capability of multi-layer neural network. The scheme introduces the adaptive compensation term of the comprehensive error to eliminate the influence of the modeling error. At the same time, the supervisory controller is used to ensure that the closed-loop system is globally consistently terminated and bounded, and the tracking error converges to zero. The simulation results show the effectiveness of this method.
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