Robust Adaptive Control of Nonlinear Systems with Unknown State Delay
Bildiriler > Tam Metin Bildiri · 2013
Yazarlar: Alper Bayrak, Enver TATLICIOĞLU, Baris Bidikli, Erkan Zergeroglu
9th Asian Control Conference (ASCC), Türkiye, İstanbul, Uluslararası, Sözlü Sunum, Tam Metin Bildiri, 2013-2013, Wos, cilt 45, ss 1-6
DOI: 10.1109/ascc.2013.6606225
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.