Robust adaptive tracking control of uncertain systems with time-varying input delays |
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| Authors: | Li-Juan Liu Jing Zhou Changyun Wen |
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| Affiliation: | 1. School of Control Science and Engineering, Dalian University of Technology, Dalian , P. R. China;2. School of Software, Dalian Jiaotong University, Dalian , P. R. China;3. Department of Engineering Sciences, Faculty of Engineering and Science, University of Agder, Grimstad, Norway;4. School of Electronic Engineering, Nanyang Technological University, Singapore, Singapore |
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| Abstract: | In this paper, the problem of robust adaptive tracking control of uncertain systems with time-varying input delays is studied. Under some mild assumptions, a robust adaptive controller is designed by using adaptive backstepping technique such that the system is globally stable and the system output can track a given reference signal. At the same time, a root mean square type of bound is obtained for the tracking error as a function of design parameters and thus can be adjusted. Finally, one numerical example is given to show the effectiveness of the proposed scheme. |
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| Keywords: | Adaptive control time-varying delays backstepping uncertain systems unmodelled dynamics |
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