Journal
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
Volume 22, Issue 14, Pages 1631-1646Publisher
WILEY-BLACKWELL
DOI: 10.1002/rnc.1776
Keywords
adaptive control; nonlinear systems; time-delay systems; tuningfunctions; backstepping
Funding
- National Natural Science Foundation of P. R. China [61074043, 61074040, 60904022]
- Natural Science Foundation of Jiangsu Province [BK2008047]
- Natural Science Foundation of Shandong Province [ZR2009AM018]
- Qufu Normal University
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In this paper, an adaptive backstepping tracking control scheme is proposed for a class of nonlinear state time-varying delay systems, which are subject to parametric uncertainties and external disturbances. The bounds of the time delays and their derivatives are assumed to be unknown. Tuning functions method is exploited to construct the control law and adaptive laws. Unknown time-varying delays are compensated by using appropriate LyapunovKrasovskii functional. It is shown that the proposed controller can guarantee the boundedness of all the closed-loop signals. The tracking performance can be adjusted by choosing suitable design parameters. At the end, a simulation example is provided to illustrate the effectiveness of the design procedure. Copyright (c) 2011 John Wiley & Sons, Ltd.
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