Title :
Continuous model reference adaptive control with sliding mode for a class of nonlinear plants with unknown state delay
Author :
Mirkin, Boris ; Gutman, Per-Olof ; Shtessel, Yuri
Author_Institution :
Fac. of Civil & Environ. Eng., Technion - Israel Inst. of Technol., Haifa, Israel
Abstract :
In this paper, we develop a model reference adaptive control (MRAC) scheme with sliding mode for a class of nonlinear dynamic systems with state delay which is robust with respect to an unknown plant delay, to a nonlinear perturbation, and to an external disturbance with unknown bounds. A novel Lyapunov-Krasovskii type functional is introduced to design the adaptive controller with smooth control action, and the stability proof.
Keywords :
Lyapunov methods; continuous systems; control system synthesis; delays; model reference adaptive control systems; nonlinear dynamical systems; perturbation techniques; stability; variable structure systems; Lyapunov-Krasovskii type functional; adaptive controller design; continuous model reference adaptive control; external disturbance; nonlinear dynamic systems; nonlinear perturbation; nonlinear plants; sliding mode; smooth control action; stability proof; unknown bound; unknown plant delay; unknown state delay; Adaptive control; Control systems; Delay effects; Delay systems; Nonlinear control systems; Programmable control; Robust control; Robustness; Sliding mode control; State feedback;
Conference_Titel :
American Control Conference, 2009. ACC '09.
Conference_Location :
St. Louis, MO
Print_ISBN :
978-1-4244-4523-3
Electronic_ISBN :
0743-1619
DOI :
10.1109/ACC.2009.5159990
