Adaptive Robust Output Tracking Control of Uncertain Nonlinear Cascade Systems with Disturbance and Multiple Unknown Time‐Varying Delays. Issue 6 (4th April 2017)

• Record Type: Journal Article
• Authors: Chehardoli, Hossein; Ghasemi, Ali
• Is Part Of: Asian journal of control. Volume 19:Issue 6(2017)
• Page Start: 2009
• Page End: 2016
• Publication Date: 2017-04-04
• Subjects: Adaptive robust controller -- Strict feedback form -- Multiple time‐varying delays -- Parameter uncertainties -- Bounded disturbance; Automatic control -- Periodicals; Control theory -- Periodicals; 629.805
• DOI: 10.1002/asjc.1504
• Languages: English
• ISSNs: 1561-8625

Abstract

Abstract: In this paper, an adaptive robust controller is designed for a class of uncertain nonlinear cascade systems with multiple time‐varying delays under external disturbance. It is assumed that multiple time‐varying delays are not exactly known and, therefore, the delayed terms must not appear in the adaptation and control laws. Accordingly, by using a Lyapunov‐Krasovskii function, delays are deleted from the adaptation and control laws. A controller based on an adaptive backstepping approach is designed to assure the global asymptotic tracking of the desired output and boundedness of the other states. The proposed controller is proved to be robust against unknown time‐varying delays and external disturbances applying to the system. Simulation results are provided to show the effectiveness of the proposed approach.