{"title":"Input delay compensation of nonlinear systems with uncertain time-varying parameters","authors":"","doi":"10.1016/j.ejcon.2024.101100","DOIUrl":null,"url":null,"abstract":"<div><p>A robust adaptive control law is designed for the class of nonlinear systems with uncertain time-varying parametric dynamics and input delays. The Constitution of control law design is based on filtered tracking errors, previous values of control input and estimate of uncertain parameters which is updated by the update law. An arbitrary large input delay compensation is guaranteed by deriving sufficient control gain conditions using Lyapunov–Krasovskii based stability analysis. The efficacy of the design is verified by Simulation results of two-link robot manipulator dynamical system.</p></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":null,"pages":null},"PeriodicalIF":2.5000,"publicationDate":"2024-08-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"European Journal of Control","FirstCategoryId":"94","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S0947358024001602","RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}
引用次数: 0
Abstract
A robust adaptive control law is designed for the class of nonlinear systems with uncertain time-varying parametric dynamics and input delays. The Constitution of control law design is based on filtered tracking errors, previous values of control input and estimate of uncertain parameters which is updated by the update law. An arbitrary large input delay compensation is guaranteed by deriving sufficient control gain conditions using Lyapunov–Krasovskii based stability analysis. The efficacy of the design is verified by Simulation results of two-link robot manipulator dynamical system.
期刊介绍：
The European Control Association (EUCA) has among its objectives to promote the development of the discipline. Apart from the European Control Conferences, the European Journal of Control is the Association''s main channel for the dissemination of important contributions in the field.
The aim of the Journal is to publish high quality papers on the theory and practice of control and systems engineering.
The scope of the Journal will be wide and cover all aspects of the discipline including methodologies, techniques and applications.
Research in control and systems engineering is necessary to develop new concepts and tools which enhance our understanding and improve our ability to design and implement high performance control systems. Submitted papers should stress the practical motivations and relevance of their results.
The design and implementation of a successful control system requires the use of a range of techniques:
Modelling
Robustness Analysis
Identification
Optimization
Control Law Design
Numerical analysis
Fault Detection, and so on.
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