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Robust adaptive‐sliding mode tracking of state delayed nonlinear plants with actuator failures
Author(s) -
Mirkin Boris,
Gutman PerOlof,
Shtessel Yuri
Publication year - 2011
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.1681
Subject(s) - control theory (sociology) , actuator , nonlinear system , computer science , sliding mode control , adaptive control , lyapunov stability , lyapunov function , perturbation (astronomy) , robust control , control engineering , control (management) , engineering , artificial intelligence , physics , quantum mechanics
In this paper, we develop two sliding mode—model reference adaptive control (MRAC) schemes for a class of delayed nonlinear dynamic systems under actuator failure that are robust with respect to actuator failures, to an unknown plant delay, to a nonlinear perturbation, and to an external disturbance with unknown bounds. Appropriate Lyapunov–Krasovskii‐type functionals with ‘virtual’ adaptation gains are introduced to design the adaptation algorithms, and to prove stability. Two different controllers are designed: one with discontinuous and another with continuous control actions, respectively. Copyright © 2011 John Wiley & Sons, Ltd.