Title :
Robust Adaptive Output-Feedback Tracking for a Class of Nonlinear Time-Delayed Plants
Author :
Mirkin, Boris ; Gutman, Per-Olof
Author_Institution :
Fac. of Civil & Environ. Eng., Technion - Israel Inst. of Technol., Haifa, Israel
Abstract :
Within the model reference adaptive control (MRAC) framework, a continuous adaptive output-feedback control scheme is developed for a class of nonlinear SISO dynamic systems with time delays which is robust with respect to unknown time-varying plant delays and to an external disturbance with unknown bounds. A special form of the Lyapunov-Krasovskii functional with a “virtual” adaptation gain vector is introduced to prove stability.
Keywords :
Lyapunov methods; continuous time systems; delays; feedback; model reference adaptive control systems; nonlinear dynamical systems; robust control; time-varying systems; Lyapunov-Krasovskii functional; continuous adaptive output-feedback control scheme; model reference adaptive control; nonlinear SISO dynamic systems; nonlinear time delayed plant; robust adaptive output feedback tracking; time-varying plant delays; virtual adaptation gain vector; Adaptive control; Delay effects; Delay systems; Linear feedback control systems; Linear systems; Programmable control; Robust control; Robustness; Sliding mode control; State feedback; Nonlinear time-delay systems; robust adaptive control;
Journal_Title :
Automatic Control, IEEE Transactions on
DOI :
10.1109/TAC.2010.2054970
