Robust backstepping control of uncertain nonlinear systems with unknown time-varying input delay

被引：0

作者：

Jain, Ashish Kumar ^{[1
]}

Bhasin, Shubhendu ^{[2
]}

机构：

[1] MJP Rohilkhand Univ, Dept EI Engn, Bareilly, Uttar Pradesh, India

[2] Indian Inst Technol, Dept Elect Engn, Delhi, India

来源：

IFAC PAPERSONLINE | 2020年 / 53卷 / 02期

关键词：

Unknown input delay; Lyapunov-Krasovskii functionals; Strict-feedback system; ADAPTIVE-CONTROL; STABILIZATION; COMPENSATION; FEEDBACK; ACTUATOR;

D O I：

10.1016/j.ifacol.2020.12.1043

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 robust compensator is developed for a class of strict-feedback uncertain nonlinear systems with additive disturbance and unknown time-varying input delay. The compensator is composed of a Proportional-Integral (PI) control and delay compensation term based on a finite integral of the past control values. The sufficient inequality conditions on controller gains and upper bound of input delay are derived using a Lyapunov-based stability analysis by choosing suitable L-K functionals, which guarantee a global uniformly ultimately bounded (GUUB) tracking result. Simulation results show the performance and robustness of controller for different values of time-varying input delay. Copyright (C) 2020 The Authors.

引用

页码：4862 / 4867

页数：6

共 28 条

[1] LINEAR-SYSTEMS WITH DELAYED CONTROLS - A REDUCTION [J].

ARTSTEIN, Z .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 1982, 27 (04) :869-879

[2]

Bahill A. T., 1983, IEEE Control Systems Magazine, V3, P16, DOI 10.1109/MCS.1983.1104748

[3] Delay-Adaptive Control for Nonlinear Systems [J].

Bresch-Pietri, Delphine ;

Krstic, Miroslav .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2014, 59 (05) :1203-1218

[4] Adaptive control scheme for uncertain time-delay systems [J].

Bresch-Pietri, Delphine ;

Chauvin, Jonathan ;

Petit, Nicolas .

AUTOMATICA, 2012, 48 (08) :1536-1552

[5] Adaptive trajectory tracking despite unknown input delay and plant parameters [J].

Bresch-Pietri, Delphine ;

Krstic, Miroslav .

AUTOMATICA, 2009, 45 (09) :2074-2081

[6] Output Feedback Regulation of a Chain of Integrators With an Unknown Time-Varying Delay in the Input [J].

Choi, Ho-Lim ;

Lim, Jong-Tae .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2010, 55 (01) :263-268

[7] Adaptive Tracking Control for a Class of Stochastic Uncertain Nonlinear Systems With Input Saturation [J].

Gao, Yong-Feng ;

Sun, Xi-Ming ;

Wen, Changyun ;

Wang, Wei .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2017, 62 (05) :2498-2504

[8] Tracking control of uncertain nonlinear systems with unknown constant input delay [J].

Jain, Ashish Kumar ;

Bhasin, Shubhendu .

IEEE-CAA JOURNAL OF AUTOMATICA SINICA, 2020, 7 (02) :420-425

[9] A Robust Delay Compensator for Uncertain Nonlinear Systems With Unknown Time-Varying Input Delay [J].

Jain, Ashish Kumar ;

Bhasin, Shubhendu .

JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME, 2019, 141 (11)

[10] Time-Varying Input and State Delay Compensation for Uncertain Nonlinear Systems [J].

Kamalapurkar, Rushikesh ;

Fischer, Nicholas ;

Obuz, Serhat ;

Dixon, Warren E. .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2016, 61 (03) :834-839

← 1 2 3 →