Robust Adaptive Control of Nonlinear Systems with Unknown State Delay
Conference paper > Full Text · 2013
Authors: Alper Bayrak, Enver TATLICIOĞLU, Baris Bidikli, Erkan Zergeroglu
9th Asian Control Conference (ASCC), Turkey, İstanbul, International, Verbal, Full Text, 2013-2013, WoS, vol 45, pp 1-6
DOI: 10.1109/ascc.2013.6606225
Summary
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.