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

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.

scholarly journals Time-Varying Input and State Delay Compensation for Uncertain Nonlinear Systems

2016 ◽  
Vol 61 (3) ◽  
pp. 834-839 ◽  
Author(s):  
Rushikesh Kamalapurkar ◽  
Nicholas Fischer ◽  
Serhat Obuz ◽  
Warren E. Dixon
Keyword(s):  
Nonlinear Systems ◽  
Time Varying ◽  
Uncertain Nonlinear Systems ◽  
Delay Compensation ◽  
State Delay

Decentralized MRAC for Large-Scale Interconnected Systems With State and Input Delays by Integrators Inclusion

2017 ◽  
Vol 139 (9) ◽  
Author(s):  
Seyed Hamid Hashemipour ◽  
Nastaran Vasegh ◽  
Ali Khaki Sedigh
Keyword(s):  
Large Scale ◽  
Practical Method ◽  
Open Loop ◽  
Loop System ◽  
Input Delay ◽  
Time Varying ◽  
Delay Compensation ◽  
State And Input Delays ◽  
Input Delays ◽  
Model Reference Adaptive

This paper investigates the problem of decentralized model reference adaptive control (MRAC) for a class of large-scale systems with time-varying delays in the interconnected terms and state and input delays. The upper bounds of interconnection terms with time-varying delays and external disturbances are assumed to be completely unknown. By integrators inclusion, a dynamic input delay compensator is established for input delay compensation and it is used as a practical method for state calculation x(t + R). Also, a method is presented for a class of decentralized feedback controllers, which can evolve the closed-loop system error uniformly bounded stable. As a numerical example, the proposed technique is applied to an unstable open-loop system to show the feasibility and effectiveness of the method.

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