Tuning functions-based robust adaptive tracking control of a class of nonlinear systems with time delays

被引：40
|
作者：
Zhang, Zhengqiang [1 ,2 ]
Lu, Junwei [3 ]
Xu, Shengyuan [2 ]
机构：
[1] Qufu Normal Univ, Sch Elect Engn & Automat, Rizhao 276826, Peoples R China
[2] Nanjing Univ Sci & Technol, Sch Automat, Nanjing, Jiangsu, Peoples R China
[3] Nanjing Normal Univ, Sch Elect & Automat Engn, Nanjing, Jiangsu, Peoples R China
来源：
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL | 2012年 / 22卷 / 14期
关键词：
adaptive control; nonlinear systems; time-delay systems; tuningfunctions; backstepping;
D O I：
10.1002/rnc.1776
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
引用
收藏
页码：1631 / 1646
页数：16
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