Immersion and invariance adaptive control for discrete‐time systems in strict‐feedback form with input delay and disturbances. (25th September 2017)

• Record Type: Journal Article
• Authors: Franco, Enrico
• Is Part Of: International journal of adaptive control and signal processing. Volume 32:Number 1(2018)
• Page Start: 69
• Page End: 82
• Publication Date: 2017-09-25
• Subjects: discrete‐time systems -- input delay -- nonlinear adaptive control; Adaptive control systems -- Periodicals; Adaptive signal processing -- Periodicals; 629.836
• DOI: 10.1002/acs.2825
• Languages: English
• ISSNs: 0890-6327

Abstract

Summary: This work presents a new adaptive control algorithm for a class of discrete‐time systems in strict‐feedback form with input delay and disturbances. The immersion and invariance formulation is used to estimate the disturbances and to compensate the effect of the input delay, resulting in a recursive control law. The stability of the closed‐loop system is studied using Lyapunov functions, and guidelines for tuning the controller parameters are presented. An explicit expression of the control law in the case of multiple simultaneous disturbances is provided for the tracking problem of a pneumatic drive. The effectiveness of the control algorithm is demonstrated with numerical simulations considering disturbances and input‐delay representative of the application.