Robust Adaptive Control of Uncertain Nonlinear Systems With Time-Varying Input Delay
Keyword(s):
In this paper, a robust adaptive controller is proposed for a class of uncertain nonlinear systems subject to time-varying input delay, parametric uncertainties and additive bounded disturbances. The desired trajectory based adaptive feedforward technique and a predictor-like robust delay compensating term are integrated via backstepping in the controller design. The proposed controller theoretically ensures semi-global uniformly ultimately bounded tracking performance based on Lyapunov stability analysis by employing Lyapunov-Krasovskii (LK) functionals. Simulation results are obtained to illustrate the effectiveness of the proposed control strategy.
2011 ◽
Vol 41
(2)
◽
pp. 542-552
◽
2019 ◽
Vol 43
(4)
◽
pp. 741-756
◽
Keyword(s):
2008 ◽
Vol E91-A
(9)
◽
pp. 2507-2513
◽