RISE-Based Adaptive Control of a Control Affine Uncertain Nonlinear System With Unknown State Delays

Author

Sharma, Nitin ; Bhasin, Shubhendu ; Wang, Qiang ; Dixon, Warren E.

Author_Institution

Dept. of Physiol., Univ. of Alberta, Edmonton, AB, Canada

Volume

57

Issue

1

fYear

2012

Firstpage

255

Lastpage

259

Abstract

A continuous robust adaptive control method is designed for a class of uncertain nonlinear systems with unknown constant time-delays in the states. Specifically, a robust adaptive control method and a delay-free gradient-based desired compensation adaptation law (DCAL) are utilized to compensate for unknown time-delays, linearly parameterizable uncertainties, and additive bounded disturbances for a general nonlinear system. Despite these disturbances, a Lyapunov Krasovskii-based analysis is used to conclude that the system output asymptotically tracks a desired time varying bounded trajectory.

Keywords

Lyapunov methods; adaptive control; control system synthesis; delays; gradient methods; nonlinear control systems; robust control; time-varying systems; uncertain systems; Lyapunov Krasovskii-based analysis; RISE-based adaptive control; additive bounded disturbances; constant time-delays; continuous robust control method; control affine uncertain nonlinear system; delay-free gradient-based desired compensation adaptation law; linear parameterizable uncertainties; time varying bounded trajectory; Adaptive systems; Delay; Delay effects; Neodymium; Nonlinear systems; Robustness; Stability analysis; Desired compensation adaptation law (DCAL);

fLanguage

English

Journal_Title

Automatic Control, IEEE Transactions on

Publisher

ieee

ISSN

0018-9286

Type

jour

DOI

10.1109/TAC.2011.2166314

Filename

6004818