Title :
Adaptive following of perturbed plants with input and state delays
Author :
Mirkin, Boris ; Gutman, Per-Olof
Author_Institution :
Fac. of Civil & Environ. Eng., Technion - Israel Inst. of Technol., Haifa, Israel
Abstract :
In this paper we develop a state feedback Lyapunov-based design of direct model reference adaptive control (MRAC) for a special class of non-linear systems with input and state delays, based only on the lumped-delays without so-called distributed-delay (DD) blocks are developed. A Smith predictor built on the base of the reference model transfer function is introduced for indirect (implicit) input-delay compensation. Finally, simulation results are given to demonstrate the effectiveness of the proposed method.
Keywords :
Lyapunov methods; compensation; delays; model reference adaptive control systems; perturbation techniques; state feedback; transfer functions; Smith predictor; direct model reference adaptive control; indirect input delay compensation; lumped delay; nonlinear system; perturbed plants; reference model transfer function; state delay; state feedback Lyapunov based design; Adaptation models; Adaptive control; Asymptotic stability; Delay; Equations; Mathematical model; Transfer functions; Adaptive control; time-delay systems;
Conference_Titel :
Control and Automation (ICCA), 2011 9th IEEE International Conference on
Conference_Location :
Santiago
Print_ISBN :
978-1-4577-1475-7
DOI :
10.1109/ICCA.2011.6137916
