Adaptive output-feedback control for nonlinear time-delay systems in pure-feedback form
- Authors
- Yoo, Sung Jin
- Issue Date
- Jul-2014
- Publisher
- PERGAMON-ELSEVIER SCIENCE LTD
- Citation
- JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS, v.351, no.7, pp 3899 - 3913
- Pages
- 15
- Journal Title
- JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS
- Volume
- 351
- Number
- 7
- Start Page
- 3899
- End Page
- 3913
- URI
- https://scholarworks.bwise.kr/cau/handle/2019.sw.cau/12074
- DOI
- 10.1016/j.jfranklin.2014.04.003
- ISSN
- 0016-0032
1879-2693
- Abstract
- The main contribution of this paper is to develop an adaptive output-feedback control approach for a class of uncertain nonlinear systems with unknown time-varying delays in the pure-feedback form. Both the non-affine nonlinear functions and the unknown time-varying delayed functions related to all state variables are considered. These conditions make the controller design difficult and challenging because the output-feedback controller should be designed using only the output information. In order to overcome these conditions, we design an observer-based adaptive dynamic surface controller where the time-delay effects are compensated by using appropriate Lyapunov-Krasovskii functionals and the function approximation technique using neural networks. A first-order filter is added to the control input to avoid the algebraic loop problem caused by the non-affine structure. It is proved that all the signals in the closed-loop system are semi-globally uniformly bounded and the tracking error converges to an adjustable neighborhood of the origin. (C) 2014 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.
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