Input-delay compensation in a robust adaptive control framework

DOI10.1049/IET-CTA.2018.5953MaRDI QIDQ5221140zbMATH OpenOpenAlexWikidataFDO

Authors Kim-Doang Nguyen, Harry Dankowicz

Publication date 24 March 2020

Published in IET Control Theory \& Applications (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1611.00844

Mathematics Subject Classification ID

Adaptive control/observation systems (93C40)

Abstract: A modification to the ${calL}_1$ control framework for uncertain systems with actuator delay is presented. Specifically, a time delay is introduced in the control input of the state predictor to compensate for the destabilizing effect of input delay in the plant. For this modified framework, the analysis shows that the output of the adaptive system closely follows the behavior of a suitably defined, nonadaptive, stable reference system provided that a delay-dependent stability condition is satisfied and the adaptive gain is chosen sufficiently large. The set of combinations of input delay and compensation delay for which the stability condition is satisfied contains an open set of pairs of positive values provided that a filter bandwidth, characteristic of ${calL}_1$ adaptive control is chosen sufficiently large. The efficacy of the delay compensation is illustrated by a simple example. A numerical continuation is also performed to explore the stability region for a case where this can be approximated a priori.

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Cited in

(7)

• An adaptive controller for uncertain nonlinear systems with multiple time delays
• scientific article; zbMATH DE number 3856943 (Why is no real title available?)
• scientific article; zbMATH DE number 88722 (Why is no real title available?)
• Predictor-based control of time-delay systems: a survey
• Robust Compensation of Delay and Diffusive Actuator Dynamics Without Distributed Feedback
• Composite adaptive posicast control for a class of LTI plants with known delay
• State prediction based control schemes for nonlinear systems with input delay and external disturbance

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