Lyapunov-Based Control of an Uncertain Euler-Lagrange System with Uncertain Time-Varying Input Delays without Delay Rate Constraints

被引：8
|
作者：
Obuz, S. [1 ]
Parikh, A. [1 ]
Chakraborty, I. [1 ]
Dixon, W. E. [1 ]
机构：
[1] Univ Florida, Dept Mech & Aerosp Engn, Gainesville, FL 32611 USA
来源：
IFAC PAPERSONLINE | 2016年 / 49卷 / 10期
关键词：
NONLINEAR-SYSTEMS; ADAPTIVE-CONTROL; ROBUST STABILIZATION; FEEDBACK-CONTROL; DYNAMIC-SYSTEMS; LINEAR-SYSTEMS; STABILITY; TRACKING;
D O I：
10.1016/j.ifacol.2016.07.506
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A tracking controller is developed for a class of uncertain Euler-Lagrange systems with bounded external disturbances and an uncertain time-varying input delay. A novel filtered tracking error signal is designed to obtain a delay lice input signal in the closed-loop error system to facilitate the control design and analysis. The designed novel filtered tracking error consists of a finite integral over a constant estimated delay interval of the past control inputs as a means to compensate for the input delay. The maximum tolerable error between unknown time varying delay and a constant estimate of the delay can be determined based on the selection of the control gains to provide uniformly ultimately bounded convergence of the tracking error to the origin. Lyapunov-Krasovskii functionals are used in the Lyaputtov-based stability analysis. (C) 2016, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All right reserved.
引用
收藏
页码：141 / 146
页数：6
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