• DocumentCode
    3430123
  • Title

    Saturated control of an uncertain Euler-Lagrange system with input delay

  • Author

    Fischer, N. ; Dani, A. ; Sharma, N. ; Dixon, W.E.

  • Author_Institution
    Department of Mechanical and Aerospace Engineering, University of Florida, Gainesville, USA
  • fYear
    2011
  • fDate
    12-15 Dec. 2011
  • Firstpage
    7587
  • Lastpage
    7592
  • Abstract
    This paper examines saturated control of a general class of uncertain nonlinear Euler-Lagrange systems with time-delayed actuation and additive bounded disturbances. The bound on the control is known a priori and can be adjusted by changing the feedback gains. A Lyapunov-based stability analysis utilizing Lyapunov-Krasovskii functionals is provided to prove uniformly ultimately bounded tracking despite uncertainties in the dynamics.
  • Keywords
    Actuators; Delay; Delay effects; Linear systems; Nonlinear systems; Stability analysis;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Decision and Control and European Control Conference (CDC-ECC), 2011 50th IEEE Conference on
  • Conference_Location
    Orlando, FL, USA
  • ISSN
    0743-1546
  • Print_ISBN
    978-1-61284-800-6
  • Electronic_ISBN
    0743-1546
  • Type

    conf

  • DOI
    10.1109/CDC.2011.6160646
  • Filename
    6160646
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3430123