Robust adaptive control of nonlinear systems with unknown state delay

Bayrak A., TATLICIOĞLU E., Bidikli B., Zergeroglu E.

2013 9th Asian Control Conference, ASCC 2013, İstanbul, Turkey, 23 - 26 June 2013, (Full Text) identifier

  • Publication Type: Conference Paper / Full Text
  • Doi Number: 10.1109/ascc.2013.6606225
  • City: İstanbul
  • Country: Turkey
  • Manisa Celal Bayar University Affiliated: Yes

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.