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Kwon, Cheolhyeon
High Assurance Mobility Control Lab.
Research Interests
  • Security and Safety of Cyber-Physical Systems, Intelligent and High Assurance Autonomy, Networked Multi-Agent Systems, Unmanned Aircraft Systems (UAS), UAS Traffic Management (UTM), Autonomous Driving, Advanced Driver Assistance System (ADAS), Sensor / Communication Networks

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Delay-tolerant Adaptive Robust Tracking Control of Uncertain Time-Delay Systems

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Title
Delay-tolerant Adaptive Robust Tracking Control of Uncertain Time-Delay Systems
Author
Suraj Nandiganahalli, JayaprakashKwon, CheolhyeonHwang, Inseok
Issue Date
ACCEPT
Publisher
Institute of Electrical and Electronics Engineers
Citation
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
Abstract
The simultaneous presence of parameter variations, time-varying disturbances, and input delay of an n-th order dynamical system makes tracking control design difficult. Existing model-based control methods can handle only a subset of the above complexities and hence become insufficient. In this paper, a prediction-based adaptive robust control (PARC) framework is proposed for high performance control of systems subject to the above complexities, which involves: i) prediction-based projection type adaptation laws with model compensation to reduce the effect of parameter uncertainties under delay and time-varying disturbances; ii) a robust prediction scheme that factors in both unknown parameters and disturbance uncertainties under delay to handle the resulting unmatched disturbances; and iii) prediction-based continuous robust feedback to attenuate the cumulative effect of disturbance terms due to uncertain prediction. The controller guarantees semi-global, exponential convergence of the tracking error with an ultimate error bound proportional to delay and disturbance. The controller effectiveness is demonstrated with a flight control example and compared with the b.
URI
https://scholarworks.unist.ac.kr/handle/201301/27179
URL
https://ieeexplore.ieee.org/abstract/document/8715459
DOI
10.1109/tac.2019.2916941
ISSN
0018-9286
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MNE_Journal Papers
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