Robust adaptive control of nonlinear systems with unknown time delays
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Publication:2486096
The controlled system \[ \dot{x}_i(t) = g_ix_{i+1}(t) + \theta_{fi}^TF_i(\bar{x}_i(t)) + \delta_{fi}(\bar{x}_i(t)) + \theta_{hi}^TH_i(\bar{x}_i(t-\tau_i)) + \delta_{hi}(\bar{x}_i(t-\tau_i)),\;1\leq i\leq n-1 \] \[ \dot{x}_n(t) = g_nu(t) + \theta_{fn}^TF_n(x(t)) + \delta_{fn}(x_(t)) + \theta_{hn}^TH_n(x(t-\tau_n)) + \delta_{hn}(x(t-\tau_n)) \] \[ y=x_1(t) \] is considered. The feedback control which uses only output information and estimates of the parameter vector \(\theta\) and stabilizes the system is obtained in an explicit form using a Lyapunov-Krasovskij functional and iterative backstepping design. The stability is delay-independent, i.e., is robust to uncertain delays.
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