Tracking for nonlinear plants with multiple unknown time‐varying state delays using sliding mode with adaptation |
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Authors: | Boris Mirkin Per‐Olof Gutman Yuri Shtessel |
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Affiliation: | 1. Faculty of Civil and Environmental Engineering, Technion—Israel Institute of Technology, Haifa 32000, Israel;2. Department of Electrical and Computer Engineering, The University of Alabama in Huntsville, AL 35899, U.S.A. |
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Abstract: | In this paper, we develop a sliding mode model reference adaptive control (MRAC) scheme for a class of nonlinear dynamic systems with multiple time‐varying state delays, which is robust with respect to unknown plant delays, to a nonlinear perturbation, and to an external disturbance with unknown bounds. An appropriate Lyapunov–Krasovskii‐type functional is introduced to design the adaptation algorithms, and to prove stability. Copyright © 2009 John Wiley & Sons, Ltd. |
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Keywords: | robust model reference adaptive control nonlinear systems state delays sliding mode control |
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