Prediction-based Adaptive Robust Tracking Control of an Uncertain First-Order Time-Delay System
Cited 0 times inCited 0 times in
- Prediction-based Adaptive Robust Tracking Control of an Uncertain First-Order Time-Delay System
- Suraj Nandiganahalli, Jayaprakash; Kwon, Cheolhyeon; Hwang, Inseok
- Issue Date
- ASIAN JOURNAL OF CONTROL
- This paper considers the tracking problem of a delayed uncertain first-order system which is simultaneously subject to (possibly large) known input delay, unknown but bounded time-varying disturbance, and unknown plant parameter. The proposed predictor adaptive robust controller (PARC) involves prediction-based projection type adaptation laws with model compensation and prediction-based continuous robust feedback such that the closed loop system has global exponential convergence with an ultimate bound proportional to delay, disturbance bound, and switching gain. Further, if there are only delay and parameter uncertainties after some finite time, then semi-global asymptotic tracking is guaranteed. The proposed design is shown to have significant closed loop performance improvement over the baseline controller.
- Appears in Collections:
- MNE_Journal Papers
- Files in This Item:
- There are no files associated with this item.
can give you direct access to the published full text of this article. (UNISTARs only)
Show full item record
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.