Robust adaptive tracking controller design for non-affine non-linear systems with state time-varying delay and unknown dead-zone

2009 ◽  
Vol 6 (1/2) ◽  
pp. 128
Author(s):  
Luo Yan Hong ◽  
Wei Qing Lai
Keyword(s):  
Linear Systems ◽  
Controller Design ◽  
Dead Zone ◽  
Time Varying ◽  
State Time ◽  
Time Varying Delay ◽  
Tracking Controller ◽  
Non Linear Systems ◽  
Robust Adaptive ◽  
Varying Delay

scholarly journals Adaptive Backstepping Control for a Class of Uncertain Nonaffine Nonlinear Time-Varying Delay Systems with Unknown Dead-Zone Nonlinearity

2014 ◽  
Vol 2014 ◽  
pp. 1-14
Author(s):  
Wei-Dong Zhou ◽  
Cheng-Yi Liao ◽  
Lan Zheng
Keyword(s):  
Controller Design ◽  
Dead Zone ◽  
Tracking Error ◽  
Delay Systems ◽  
Mean Value Theorem ◽  
Time Varying ◽  
Adaptive Backstepping ◽  
Nonlinear Part ◽  
Time Varying Delay ◽  
Varying Delay

An adaptive backstepping controller is constructed for a class of nonaffine nonlinear time-varying delay systems in strict feedback form with unknown dead zone and unknown control directions. To simplify controller design, nonaffine system is first transformed into an affine system by using mean value theorem and the unknown nonsymmetric dead-zone nonlinearity is treated as a combination of a linear term and a bounded disturbance-like term. Owing to the universal approximation property, fuzzy logic systems (FLSs) are employed to approximate the uncertain nonlinear part in controller design process. By introducing Nussbaum-type function, the a priori knowledge of the control gains signs is not required. By constructing appropriate Lyapunov-Krasovskii functionals, the effect of time-varying delay is compensated. Theoretically, it is proved that this scheme can guarantee that all signals in closed-loop system are semiglobally uniformly ultimately bounded (SUUB) and the tracking error converges to a small neighbourhood of the origin. Finally, the simulation results validate the effectiveness of the proposed scheme.

Sign in / Sign up

Export Citation Format

Share Document