Robust adaptive control of nonlinear systems with unknown state delay
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Date
2013
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Abstract
In 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.
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Keywords
Computer simulation , Error compensation , MIMO systems , Nonlinear feedback , Asymptotic tracking , Input and outputs , Multi-input multi-output nonlinear systems , Nonlinear integral feedback , Parametric uncertainties , Robust adaptive controller , Robust-adaptive control , System Dynamics , Adaptive control systems