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Tracking for nonlinear plants with multiple unknown time‐varying state delays using sliding mode with adaptation
Author(s) -
Mirkin Boris,
Gutman PerOlof,
Shtessel Yuri
Publication year - 2010
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.1518
Subject(s) - control theory (sociology) , nonlinear system , sliding mode control , perturbation (astronomy) , computer science , lyapunov stability , adaptive control , lyapunov function , state (computer science) , adaptation (eye) , mathematics , control (management) , artificial intelligence , algorithm , physics , quantum mechanics , optics
In this paper, we develop a sliding mode model reference adaptive control (MRAC) scheme for a class of nonlinear dynamic systems with multiple time‐varying state delays, which is robust with respect to unknown plant delays, to a nonlinear perturbation, and to an external disturbance with unknown bounds. An appropriate Lyapunov–Krasovskii‐type functional is introduced to design the adaptation algorithms, and to prove stability. Copyright © 2009 John Wiley & Sons, Ltd.