کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
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696457 | 890338 | 2011 | 11 صفحه PDF | دانلود رایگان |
Controlling a nonlinear system with actuator delay is a challenging problem because of the need to develop some form of prediction of the nonlinear dynamics. Developing a predictor-based controller for an uncertain system is especially challenging. In this paper, tracking controllers are developed for an Euler–Lagrange system with time-delayed actuation, parametric uncertainty, and additive bounded disturbances. The developed controllers represent the first input delayed controllers developed for uncertain nonlinear systems that use a predictor to compensate for the delay. The results are obtained through the development of a novel predictor-like method to address the time delay in the control input. Lyapunov–Krasovskii functionals are used within a Lyapunov-based stability analysis to prove semi-globally uniformly ultimately bounded tracking. Experimental results illustrate the performance and robustness of the developed control methods.
Journal: Automatica - Volume 47, Issue 11, November 2011, Pages 2332–2342