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

fYear

2009

fDate

10-12 June 2009

Firstpage

574

Lastpage

579

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;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 2009. ACC '09.

Conference_Location

St. Louis, MO

ISSN

0743-1619

Print_ISBN

978-1-4244-4523-3

Electronic_ISBN

0743-1619

Type

conf

DOI

10.1109/ACC.2009.5159990

Filename

5159990