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Immersion and invariance adaptive control for discrete‐time systems in strict‐feedback form with input delay and disturbances
Author(s) -
Franco Enrico
Publication year - 2018
Publication title -
international journal of adaptive control and signal processing
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.73
H-Index - 66
eISSN - 1099-1115
pISSN - 0890-6327
DOI - 10.1002/acs.2825
Subject(s) - control theory (sociology) , adaptive control , immersion (mathematics) , lyapunov function , controller (irrigation) , computer science , stability (learning theory) , mathematics , control (management) , nonlinear system , artificial intelligence , physics , quantum mechanics , machine learning , pure mathematics , agronomy , biology
Summary This work presents a new adaptive control algorithm for a class of discrete‐time systems in strict‐feedback form with input delay and disturbances. The immersion and invariance formulation is used to estimate the disturbances and to compensate the effect of the input delay, resulting in a recursive control law. The stability of the closed‐loop system is studied using Lyapunov functions, and guidelines for tuning the controller parameters are presented. An explicit expression of the control law in the case of multiple simultaneous disturbances is provided for the tracking problem of a pneumatic drive. The effectiveness of the control algorithm is demonstrated with numerical simulations considering disturbances and input‐delay representative of the application.