Tracking Control of Uncertain Nonlinear Systems With Unknown Constant Input Delay  

作　　者：Ashish Kumar Jain Shubhendu Bhasin 

机构地区：[1]Department of Electrical Engineering,Indian Institute of Technology Delhi,New Delhi-110016,India

出　　处：《IEEE/CAA Journal of Automatica Sinica》2020年第2期420-425,共6页自动化学报（英文版）

摘　　要：A robust delay compensator has been developed for a class of uncertain nonlinear systems with an unknown constant input delay.The control law consists of feedback terms based on the integral of past control values and a novel filtered tracking error,capable of compensating for input delays.Suitable Lyapunov-Krasovskii functionals are used to prove global uniformly ultimately bounded(GUUB)tracking,provided certain sufficient gain conditions,dependent on the bound of the delay,are satisfied.Simulation results illustrate the performance and robustness of the controller for different values of input delay.A robust delay compensator has been developed for a class of uncertain nonlinear systems with an unknown constant input delay.The control law consists of feedback terms based on the integral of past control values and a novel filtered tracking error,capable of compensating for input delays.Suitable Lyapunov-Krasovskii functionals are used to prove global uniformly ultimately bounded (GUUB) tracking,provided certain sufficient gain conditions,dependent on the bound of the delay,are satisfied.Simulation results illustrate the performance and robustness of the controller for different values of input delay.

关 键 词：Global uniformly ultimately bounded stability Lyapunov-Krasovskii functionals nonlinear systems tracking control unknown input delay 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]