Adaptive Constrained Control for Uncertain Nonlinear Time-Delay System with Application to Unmanned Helicopter. (13th February 2018)

• Record Type: Journal Article
• Authors: Li, Rong; Wu, Qingxian; Yang, Qingyun; Ye, Hui
• Other Names: Pekař Libor Academic Editor.
• Is Part Of: Mathematical problems in engineering. Volume 2018(2018)
• Publication Date: 2018-02-13
• Subjects: Engineering mathematics -- Periodicals; 510.2462
• DOI: 10.1155/2018/8410360
• Languages: English
• ISSNs: 1024-123X

Abstract

Abstract : This paper investigates a class of nonlinear time-delayed systems with output prescribed performance constraint. The neural network and DOB (disturbance observer) are designed to tackle the uncertainties and external disturbance, and prescribed performance function is constructed for the output prescribed performance constrained problem. Then the robust controller is designed by using adaptive backstepping method, and the stability analysis is considered by using Lyapunov-Krasovskii. Furthermore, the proposed method is employed into the unmanned helicopter system with time-delay aerodynamic uncertainty. Finally, the simulation results illustrate that the proposed robust prescribed performance control system achieved a good control performance.