Title :
Lyapunov-based control of an uncertain Euler-Lagrange system with time-varying input delay
Author :
Fischer, Normann ; Kamalapurkar, Rushikesh ; Fitz-Coy, N. ; Dixon, Warren E.
Author_Institution :
Dept. of Mech. & Aerosp. Eng., Univ. of Florida, Gainesville, FL, USA
Abstract :
This paper examines control of a general class of uncertain nonlinear Euler-Lagrange systems with time-varying input delay and additive bounded disturbances. A Lyapunov-based stability analysis utilizing Lyapunov-Krasovskii functionals is provided to prove semi-global uniformly ultimately bounded tracking. Simulation results demonstrate the robustness of the control design with respect to the delay.
Keywords :
Lyapunov methods; control system synthesis; delays; nonlinear control systems; robust control; time-varying systems; uncertain systems; Lyapunov-Krasovskii functionals; Lyapunov-based control; Lyapunov-based stability analysis; additive bounded disturbances; control design robustness; semiglobal uniformly ultimately bounded tracking; time-varying input delay; uncertain nonlinear Euler-Lagrange systems; Additives; Delay; Nonlinear systems; Robustness; Stability analysis; Time varying systems; Uncertainty;
Conference_Titel :
American Control Conference (ACC), 2012
Conference_Location :
Montreal, QC
Print_ISBN :
978-1-4577-1095-7
Electronic_ISBN :
0743-1619
DOI :
10.1109/ACC.2012.6315102
