An adaptive controller for uncertain nonlinear systems with multiple time delays. (July 2020)

• Record Type: Journal Article
• Authors: Nguyen, Kim-Doang
• Is Part Of: Automatica. Volume 117(2020)
• Publication Date: 2020-07
• Subjects: Delay compensation -- Adaptive control -- Nonlinear systems; Automatic control -- Periodicals; Automation -- Periodicals; 629.805
• DOI: 10.1016/j.automatica.2020.108976
• Languages: English
• ISSNs: 0005-1098

Abstract

Abstract: This paper leverages the predictor-based model reference adaptive control (PMRAC) architecture to develop an adaptive compensation scheme for uncertain nonlinear systems with multiple input and state delays. The controller is composed of a state predictor, an auxiliary system, and adaptive laws. The adaptive laws are designed through a Lyapunov function in such a way that the predictor state and the auxiliary state asymptotically converge to the system state given that a stability condition holds. Satisfying this delay-dependent stability condition, formulated in the form of a linear matrix inequality (LMI), also ensures the input-to-state stability of the closed-loop control system. Numerical case studies with a standard F-16 aircraft model are discussed to illustrate the efficacy of the proposed control framework.