Global adaptive tracking for a class of nonlinear time-delay systems |
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Authors: | Wanli Wang Xu Zhang |
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Affiliation: | 1. School of Automation, Beihang University, Beijing, People's Republic of China https://orcid.org/0000-0003-1155-6736;2. School of Automation, Beihang University, Beijing, People's Republic of China |
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Abstract: | This paper aims to extend the newly developed global adaptive regulation scheme to adaptive tracking for a general class of nonlinear systems with both parameter uncertainties and unknown time delay for all the system states. With a simple yet novel decomposition of some coupling functions derived from the introduction of a reference signal, a backstepping tracking control strategy is proposed which possesses the feature that for each design step, a dynamic gain is introduced to generate an additional term to counteract the system nonlinearities and parameter uncertainties. As a result, a memoryless adaptive state-feedback controller is obtained to achieve the global adaptive tracking. |
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Keywords: | Time-delay systems dynamic gain global tracking adaptive control |
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