Design of PID control for planar uncertain nonlinear systems with input delay

2021 ◽  
Author(s):  
Xujun Lyu ◽  
Zongli Lin
Keyword(s):  
Nonlinear Systems ◽  
Pid Control ◽  
Input Delay ◽  
Uncertain Nonlinear Systems

Unknown time-varying input delay compensation for uncertain nonlinear systems

Automatica ◽  
2017 ◽  
Vol 76 ◽  
pp. 222-229 ◽  
Author(s):  
Serhat Obuz ◽  
Justin R. Klotz ◽  
Rushikesh Kamalapurkar ◽  
Warren Dixon
Keyword(s):  
Nonlinear Systems ◽  
Input Delay ◽  
Time Varying ◽  
Uncertain Nonlinear Systems ◽  
Delay Compensation

Adaptive neural network tracking control for uncertain nonlinear systems with input delay and saturation

2020 ◽  
Vol 30 (7) ◽  
pp. 2593-2610
Author(s):  
Jiali Ma ◽  
Shengyuan Xu ◽  
Guangming Zhuang ◽  
Yunliang Wei ◽  
Zhengqiang Zhang
Keyword(s):  
Neural Network ◽  
Nonlinear Systems ◽  
Tracking Control ◽  
Input Delay ◽  
Uncertain Nonlinear Systems ◽  
Adaptive Neural Network

Robust Adaptive Control of Uncertain Nonlinear Systems With Time-Varying Input Delay

2017 ◽  
Author(s):  
W. X. Deng ◽  
J. Y. Yao
Keyword(s):  
Nonlinear Systems ◽  
Controller Design ◽  
Adaptive Controller ◽  
Robust Adaptive Control ◽  
Input Delay ◽  
Time Varying ◽  
Uncertain Nonlinear Systems ◽  
Bounded Disturbances ◽  
Robust Adaptive ◽  
Adaptive Feedforward

In this paper, a robust adaptive controller is proposed for a class of uncertain nonlinear systems subject to time-varying input delay, parametric uncertainties and additive bounded disturbances. The desired trajectory based adaptive feedforward technique and a predictor-like robust delay compensating term are integrated via backstepping in the controller design. The proposed controller theoretically ensures semi-global uniformly ultimately bounded tracking performance based on Lyapunov stability analysis by employing Lyapunov-Krasovskii (LK) functionals. Simulation results are obtained to illustrate the effectiveness of the proposed control strategy.

A Robust Delay Compensator for Uncertain Nonlinear Systems With Unknown Time-Varying Input Delay

2019 ◽  
Vol 141 (11) ◽  
Author(s):  
Ashish Kumar Jain ◽  
Shubhendu Bhasin
Keyword(s):  
Stability Analysis ◽  
Nonlinear System ◽  
Nonlinear Systems ◽  
Tracking Error ◽  
Input Delay ◽  
Control Law ◽  
Time Varying ◽  
Uncertain Nonlinear Systems ◽  
Uniformly Ultimately Bounded ◽  
Simulation Results

This paper proposes a robust compensator for a class of uncertain nonlinear systems subjected to unknown time-varying input delay. The proposed control law is based on the integral of past values of control and a novel filtered tracking error. Sufficient gain conditions dependent on the known bound of the delay are derived using a Lyapunov-based stability analysis, where Lyapunov–Krasovskii (LK) functionals are used to achieve a global uniformly ultimately bounded (GUUB) tracking result. Simulation results for a nonlinear system are used to evaluate the performance and robustness of the controller for different values of time-varying input delay.

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