Memoryless disturbance-observer-based adaptive tracking of uncertain pure-feedback nonlinear time-delay systems with unmatched disturbances
- Authors
- Kim, Hyoung Oh; Yoo, Sung Jin
- Issue Date
- Sep-2017
- Publisher
- ELSEVIER SCIENCE INC
- Keywords
- Nonlinear disturbance observer (NDO); Adaptive tracking; Unknown time-varying delays; Memoryless; Unmatched external disturbances
- Citation
- ISA TRANSACTIONS, v.70, pp 419 - 431
- Pages
- 13
- Journal Title
- ISA TRANSACTIONS
- Volume
- 70
- Start Page
- 419
- End Page
- 431
- URI
- https://scholarworks.bwise.kr/cau/handle/2019.sw.cau/4019
- DOI
- 10.1016/j.isatra.2017.07.017
- ISSN
- 0019-0578
1879-2022
- Abstract
- This paper presents a delay-independent nonlinear disturbance observer (NDO) design methodology for adaptive tracking of uncertain pure-feedback nonlinear systems in the presence of unknown time delays and unmatched external disturbances. Compared with all existing NDO-based control results for uncertain lower-triangular nonlinear systems where unknown time delays have been not considered, the main contribution of this paper is to develop a delay-independent design strategy to construct an NDO-based adaptive tracking scheme in the presence of unknown time-delayed nonlinearities and non-affine nonlinearities unmatched in the control input. The proposed delay-independent scheme is constructed by employing the appropriate Lyapunov-Krasovskii functionals and the same function approximators for the NDO and the controller. It is shown that all the signals of the closed-loop system are semi-globally uniformly ultimately bounded and the tracking error converges to an adjustable neighborhood of the origin. (C) 2017 ISA. Published by Elsevier Ltd. All rights reserved.
- Files in This Item
- There are no files associated with this item.
- Appears in
Collections - College of ICT Engineering > School of Electrical and Electronics Engineering > 1. Journal Articles
![qrcode](https://api.qrserver.com/v1/create-qr-code/?size=55x55&data=https://scholarworks.bwise.kr/cau/handle/2019.sw.cau/4019)
Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.