Stabilising controller design for uncertain systems with time-varying input delay

2004 ◽  
Vol 151 (6) ◽  
pp. 699-705 ◽  
Author(s):  
D. Yue ◽  
J. Lam
Author(s):  
W. X. Deng ◽  
J. Y. Yao

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.


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