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Volume 7 Issue 2
Mar.  2020

IEEE/CAA Journal of Automatica Sinica

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Ashish Kumar Jain and Shubhendu Bhasin, "Tracking Control of Uncertain Nonlinear Systems With Unknown Constant Input Delay," IEEE/CAA J. Autom. Sinica, vol. 7, no. 2, pp. 420-425, Mar. 2020. doi: 10.1109/JAS.2019.1911807
Citation: Ashish Kumar Jain and Shubhendu Bhasin, "Tracking Control of Uncertain Nonlinear Systems With Unknown Constant Input Delay," IEEE/CAA J. Autom. Sinica, vol. 7, no. 2, pp. 420-425, Mar. 2020. doi: 10.1109/JAS.2019.1911807

Tracking Control of Uncertain Nonlinear Systems With Unknown Constant Input Delay

doi: 10.1109/JAS.2019.1911807
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  • A robust delay compensator has been developed for a class of uncertain nonlinear systems with an unknown constant input delay. The control law consists of feedback terms based on the integral of past control values and a novel filtered tracking error, capable of compensating for input delays. Suitable Lyapunov-Krasovskii functionals are used to prove global uniformly ultimately bounded (GUUB) tracking, provided certain sufficient gain conditions, dependent on the bound of the delay, are satisfied. Simulation results illustrate the performance and robustness of the controller for different values of input delay.

     

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  • 1 For simplicity of presentation, a second order system is considered in the paper, however, the development can be trivially extended to higher order system of the same form as (1).
    2 $ \mathbb{R}^{+} $ denotes a positive real value.
    3 The notation $ \mathcal{L}_{\infty} $ denotes the space of bounded Lebesgue measurable functions on $ [0, \infty) $.
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    Highlights

    • This design technique is suitable for unknown constant input delay compensation of uncertain nonlinear systems.
    • A novel control law based on the integral of the previous values of control input, is developed for achieving this objective.
    • A global uniformly ultimately bounded tracking result is obtained.

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