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, Türkiye, 23 - 26 Haziran 2013, (Tam Metin Bildiri) identifier

  • Yayın Türü: Bildiri / Tam Metin Bildiri
  • Doi Numarası: 10.1109/ascc.2013.6606225
  • Basıldığı Şehir: İstanbul
  • Basıldığı Ülke: Türkiye
  • Manisa Celal Bayar Üniversitesi Adresli: Evet

Özet

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.