Adaptive robust tracking control of a class of nonlinear systems with input delay
From MaRDI portal
Publication:347327
DOI10.1007/S11071-016-2749-6zbMATH Open1355.70016arXiv1509.06542OpenAlexW3102277490MaRDI QIDQ347327FDOQ347327
Authors: Spandan Roy, Indra N. Kar 
Publication date: 30 November 2016
Published in: Nonlinear Dynamics (Search for Journal in Brave)
Abstract: In this paper, the tracking control problem of a class of uncertain Euler-Lagrange systems subjected to unknown input delay and bounded disturbances is addressed. To this front, a novel delay dependent control law, referred as Adaptive Robust Outer Loop Control (AROLC) is proposed. Compared to the conventional predictor based approaches, the proposed controller is capable of negotiating any input delay, within a stipulated range, without knowing the delay or its variation. The maximum allowable input delay is computed through Razumikhin-type stability analysis. AROLC also provides robustness against the disturbances due to input delay, parametric variations and unmodelled dynamics through switching control law. The novel adaptive law allows the switching gain to modify itself online in accordance with the tracking error without any prerequisite of the uncertainties. The uncertain system, employing AROLC, is shown to be Uniformly Ultimately Bounded (UUB). As a proof of concept, experimentation is carried out on a nonholonomic wheeled mobile robot with various time varying as well as fixed input delay, and better tracking accuracy of the proposed controller is noted compared to predictor based methodology.
Full work available at URL: https://arxiv.org/abs/1509.06542
Recommendations
- Robust adaptive tracking control of uncertain systems with time-varying input delays
- Predictor-based control for an uncertain Euler-Lagrange system with input delay
- Adaptive sliding mode control of a class of nonlinear systems with artificial delay
- Unknown time-varying input delay compensation for uncertain nonlinear systems
- A robust optimal trajectory tracking control for systems with an input delay
Sensitivity (robustness) (93B35) Robot dynamics and control of rigid bodies (70E60) Control of mechanical systems (70Q05) Nonlinear systems in control theory (93C10) Adaptive control/observation systems (93C40) Automated systems (robots, etc.) in control theory (93C85)
Cites Work
- Delay compensation for nonlinear, adaptive, and PDE systems
- Theory of functional differential equations. 2nd ed
- Time-delay systems: an overview of some recent advances and open problems.
- Exact tracking control of nonlinear systems with time delays and dead-zone input
- Finite spectrum assignment problem for systems with delays
- Adaptive trajectory tracking despite unknown input delay and plant parameters
- Robust synchronisation of chaotic systems with randomly occurring uncertainties via stochastic sampled-data control
- Linear systems with delayed controls: A reduction
- An extension of the prediction scheme to the case of systems with both input and state delay
- Delay-adaptive feedback for linear feedforward systems
- Robust prediction-based control for unstable delay systems: Application to the yaw control of a mini-helicopter
- New delay-dependent robust stability criteria for uncertain neutral systems with mixed delays
- Delayed feedback control of uncertain systems with time-varying input delay
- On robustness of predictor feedback control of linear systems with input delays
- Delay-robustness of linear predictor feedback without restriction on delay rate
- Stability and Stabilization of Systems with Time Delay
- Robust sampled-data control with random missing data scenario
- Robust controller design of a class of nonlinear time delay systems via backstepping method
- Control Lyapunov-Razumikhin functions and robust stabilization of time delay systems
- Global attitude stabilization of rigid spacecraft with unknown input delay
- Active coupling and its circuitry designs of chaotic systems against deteriorated and delayed networks
- Predictor-based control for an uncertain Euler-Lagrange system with input delay
- Adaptive sliding-mode insensitive control of a class of non-ideal complex networked systems
- Stability analysis of a rigid robot with output-based controller and time delay
- Predictor-based stabilization of discrete time-varying input-delay systems
- Adaptive backstepping control of uncertain systems with unknown input time-delay
- Second-Order Integral Sliding Mode Control for Uncertain Systems With Control Input Time Delay Based on Singular Perturbation Approach
- On the Efficacy of Nonlinear Control in Uncertain Linear Systems
- Advances in sliding mode control. Concept, theory and implementation. Papers from the 12th IEEE international workshop on variable structure system, Mumbai, India, January 2012
- Robustness analysis of discrete predictor-based controllers for input-delay systems
Cited In (20)
- Adaptive prescribed performance tracking control for strict-feedback nonlinear systems with zero dynamics
- Adaptive sliding mode control of a class of nonlinear systems with artificial delay
- Adaptive Robust Tracking and Model Following of Uncertain Dynamical Systems With Multiple Time Delays
- Adaptive fault-tolerant formation tracking control of networked mobile robots with input delays
- Robust adaptive tracking control for nontriangular time‐delay nonlinear systems with input dead‐zone and multiple uncertainties
- Adaptive fuzzy sliding mode control of input-delayed uncertain nonlinear systems through output-feedback
- Uniform continuity and delay robustness of an adaptive controller for Lagrangian systems
- The tracking control of a class of delay discrete systems via ADP
- Adaptive asymptotic tracking control of uncertain nonlinear time-delay systems depended on delay estimation information
- Delay-lower-bound-based adaptive fuzzy memory control for uncertain nonlinear systems with state and input delays
- Adaptive tracking of uncertain nonlinear systems under different types of input delays with urban traffic perimeter control application
- Indirect adaptive robust dynamic surface control in separate meter-in and separate meter-out control system
- Robust control for an overhead crane with input delay
- A robust optimal trajectory tracking control for systems with an input delay
- ADP based optimal tracking control for a class of linear discrete-time system with multiple delays
- A low-complexity tracker design for uncertain nonholonomic wheeled mobile robots with time-varying input delay at nonlinear dynamic level
- Predictor-based control for an uncertain Euler-Lagrange system with input delay
- Robustness of adaptive control under time delays for three-dimensional curve tracking
- Unknown time-varying input delay compensation for uncertain nonlinear systems
- Robust control and tracking of a delay system with discontinuous non-linearity in the feedback
This page was built for publication: Adaptive robust tracking control of a class of nonlinear systems with input delay
Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q347327)
