Adaptive Backstepping Control for a Class of Nonlinear Systems With Unknown Time Delay

被引：6
作者：
Qian, Feng [1 ]
Cai, Jianping [2 ]
Wang, Binrui [1 ]
Yu, Rui [1 ]
机构：
[1] China Jiliang Univ, Coll Mech & Elect Engn, Hangzhou 310018, Peoples R China
[2] Zhejiang Univ Water Resource & Elect Power, Coll Elect Engn, Hangzhou 310018, Peoples R China
来源：
IEEE ACCESS | 2020年 / 8卷
基金：
中国国家自然科学基金;
关键词：
Adaptive control; backstepping; time delay; nonlinear system; SLIDING MODE CONTROL;
D O I：
10.1109/ACCESS.2019.2961140
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, an adaptive backstepping control scheme is proposed for a class of nonlinear systems with unknown time delay. The unknown time delay in the system depends on all system states, which will inevitably destroy the triangular structure of the control system. Therefore, traditional backstepping can not be used to design the controller. In order to overcome the problem caused by "non-triangular structure", we construct a linear projection between the state vector and its transform in controller design. Using inequality and adaptive backstepping control, we compensate the uncertainties caused by unknown time delays. Finally, the simulation results show that the proposed algorithm is effective.
引用
收藏
页码：229 / 236
页数：8
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