Tracking Control of Uncertain Nonlinear Systems With Unknown Constant Input Delay

Ashish Kumar Jain; Shubhendu Bhasin

doi:10.1109/JAS.2019.1911807

Volume 7 Issue 2

Mar. 2020

IEEE/CAA Journal of Automatica Sinica

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Article Navigation > IEEE/CAA Journal of Automatica Sinica > 2020 > 7(2): 420-425

Ashish Kumar Jain and Shubhendu Bhasin, "Tracking Control of Uncertain Nonlinear Systems With Unknown Constant Input Delay," IEEE/CAA J. Autom. Sinica, vol. 7, no. 2, pp. 420-425, Mar. 2020. doi: 10.1109/JAS.2019.1911807

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Ashish Kumar Jain and Shubhendu Bhasin, "Tracking Control of Uncertain Nonlinear Systems With Unknown Constant Input Delay," IEEE/CAA J. Autom. Sinica, vol. 7, no. 2, pp. 420-425, Mar. 2020. doi: 10.1109/JAS.2019.1911807

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Tracking Control of Uncertain Nonlinear Systems With Unknown Constant Input Delay

doi: 10.1109/JAS.2019.1911807

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Author Bio:
Ashish Kumar Jain received the bachelor degree in electronics instrumentation and control engineering from Govt. Engineering College, India in 2000 and master degree in instrumentation and control engineering from The National Institute of Technical Teachers Training and Research, India in 2011. He is currently a Ph.D. candidate with the Department of Electrical Engineering at the Indian Institute of Technology, India. His research interests include control of nonlinear time delay systems and adaptive control

Shubhendu Bhasin (M’08) received the Ph.D. degree in 2011 from the Department of Mechanical and Aerospace Engineering at the University of Florida. He is currently an Associate Professor in the Department of Electrical Engineering at the Indian Institute of Technology Delhi, India. His research interests include nonlinear and adaptive control of uncertain systems, reinforcement learning-based feedback control, approximate dynamic programming, and neural network-based control
Corresponding author: The authors are with the Department of Electrical Engineering, Indian Institute of Technology Delhi, New Delhi-110016, India (e-mail: akjain00@gmail.com; sbhasin@ee.iitd.ernet.in)
¹ For simplicity of presentation, a second order system is considered in the paper, however, the development can be trivially extended to higher order system of the same form as (1).
² \begin{document}$ \mathbb{R}^{+} $\end{document} denotes a positive real value.
³ The notation \begin{document}$ \mathcal{L}_{\infty} $\end{document} denotes the space of bounded Lebesgue measurable functions on \begin{document}$ [0, \infty) $\end{document}.
Received Date: 2019-05-09
Accepted Date: 2019-07-22

Available Online: 2019-08-21

Abstract

Abstract

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.
- Global uniformly ultimately bounded stability,
- Lyapunov-Krasovskii functionals,
- nonlinear systems,
- tracking control,
- unknown input delay

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¹ For simplicity of presentation, a second order system is considered in the paper, however, the development can be trivially extended to higher order system of the same form as (1).
² $ \mathbb{R}^{+} $ denotes a positive real value.
³ The notation $ \mathcal{L}_{\infty} $ denotes the space of bounded Lebesgue measurable functions on $ [0, \infty) $.

References(37)

References

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This design technique is suitable for unknown constant input delay compensation of uncertain nonlinear systems.
A novel control law based on the integral of the previous values of control input, is developed for achieving this objective.
A global uniformly ultimately bounded tracking result is obtained.

Tracking Control of Uncertain Nonlinear Systems With Unknown Constant Input Delay

doi: 10.1109/JAS.2019.1911807

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通讯作者: 陈斌, bchen63@163.com

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