控制理论(社会学)
前馈
非线性系统
自适应控制
控制器(灌溉)
鲁棒控制
有界函数
补偿(心理学)
计算机科学
理论(学习稳定性)
极限(数学)
控制(管理)
数学
控制工程
工程类
物理
量子力学
人工智能
心理学
数学分析
农学
机器学习
精神分析
生物
作者
Ashish Jain,Atul Katiyar
摘要
Abstract In this paper a robust adaptive controller for a class of uncertain nonlinear systems is developed with additive disturbance and unknown time‐varying input delay. The control law is composed of a Desired Compensation Adaptation Law (DCAL) based feedforward term for the adaptation of uncertain plant parameters and two robust feedback terms based on the integral of the past control to compensate the input delay. The sufficient conditions on controller gains and limit on delay bound are derived through stability analysis by choosing suitable Lyapunov‐Krasovskii functionals which gives a globally uniformly ultimately bounded (GUUB) tracking. The performance of the controller is evaluated by performing simulation on a two link robot manipulator system for different values of the input delay.
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