Predictor - Based Robust Control of Uncertain Nonlinear Systems Subject to Input Delay
نویسندگان
چکیده
In this paper, a tracking controller is developed for a class of nonlinear systems subject to time delay in the control input, uncertainties in the dynamic model, and additive disturbances. The control development is based on a novel predictor–like method to address the time delay in the control input. Lyapunov based stability analysis is used to prove semi–global asymptotic tracking. Numerical simulation results illustrate the performance of the proposed robust controller.
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تاریخ انتشار 2012