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

2004 ◽  
Vol 151 (6) ◽  
pp. 699-705 ◽  
Author(s):  
D. Yue ◽  
J. Lam
Keyword(s):  
Uncertain Systems ◽  
Controller Design ◽  
Input Delay ◽  
Time Varying

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.

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