Robust Adaptive Control of Mildly Nonlinear Systems With Time Varying Input/Output Delays Conference Paper uri icon

abstract

  • Many systems must operate in the presence of delays both internal to the system and in its inputs and outputs. In this paper we present a robustness result for mildly nonlinear systems. We use this result to show that, for small unknown time varying input delays, a simple adaptive controller can produce output regulation to a neighborhood with radius dependent upon the size of an upper bound on the delay. This regulation occurs in the presence of persistent disturbances and the convergence is exponential. We conclude with an example to illustrate the behavior of this adaptive control law.

name of conference

  • Volume 1: Development and Characterization of Multifunctional Materials; Modeling, Simulation and Control of Adaptive Systems; Structural Health Monitoring

published proceedings

  • Volume 1: Development and Characterization of Multifunctional Materials; Modeling, Simulation and Control of Adaptive Systems; Structural Health Monitoring

author list (cited authors)

  • Nelson, J. P., Balas, M. J., & Erwin, R. S.

citation count

  • 0

complete list of authors

  • Nelson, James P||Balas, Mark J||Erwin, Richard S

publication date

  • September 2012