Robust adaptive tracking control of uncertain systems with time-varying input delays. Issue 16 (10th December 2017)

• Record Type: Journal Article
• Authors: Liu, Li-Juan; Zhou, Jing; Wen, Changyun; Zhao, Xudong
• Is Part Of: International journal of systems science. Volume 48:Issue 16(2017)
• Page Start: 3440
• Page End: 3449
• Publication Date: 2017-12-10
• Subjects: Adaptive control -- time-varying delays -- backstepping -- uncertain systems -- unmodelled dynamics; System analysis -- Periodicals; 003.3
• DOI: 10.1080/00207721.2017.1382604
• Languages: English
• ISSNs: 0020-7721

Abstract

ABSTRACT: In this paper, the problem of robust adaptive tracking control of uncertain systems with time-varying input delays is studied. Under some mild assumptions, a robust adaptive controller is designed by using adaptive backstepping technique such that the system is globally stable and the system output can track a given reference signal. At the same time, a root mean square type of bound is obtained for the tracking error as a function of design parameters and thus can be adjusted. Finally, one numerical example is given to show the effectiveness of the proposed scheme.