Unknown time-varying input delay compensation for uncertain nonlinear systems

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• 作者：Serhat Obuz ^{serhat.obuz@ufl.edu}Author Vitae ; Justin R. Klotz ^{jklotz@ufl.edu}Author Vitae ; Rushikesh Kamalapurkar ^{rkamalapurkar@ufl.edu}Author Vitae ; Warren Dixon ^{wdixon@ufl.edu}Author Vitae
• 关键词：Input delay ; Robust control ; Nonlinear control
• 刊名：Automatica
• 出版年：2017
• 出版时间：February 2017
• 年：2017
• 卷：76
• 期：Complete
• 页码：222-229
• 全文大小：1034 K
• 卷排序：76

文摘

A tracking controller is developed for a class of uncertain nonlinear systems subject to unknown time-varying input delay and additive disturbances. A novel filtered error signal is designed using the past states in a finite integral over a constant estimated delay interval. The maximum tolerable error between unknown time-varying delay and a constant estimate of the delay is determined to establish uniformly ultimately bounded convergence of the tracking error to the origin. The controller development is based on an approach which uses Lyapunov–Krasovskii functionals to analyze the effects of unknown sufficiently slowly time-varying input delays. A stability analysis is provided to prove ultimate boundedness of the tracking error signals. Numerical simulation results illustrate the performance of the developed robust controller.