Adaptive backstepping control of uncertain linear systems under unknown actuator delay

• Yang Zhu ^[1] ; Hongye Su ^[1] ; Miroslav Krstic ^[2]
  1. [1] Zhejiang University

     Zhejiang University

     China

     
  2. [2] University of California, San Diego

     University of California, San Diego

     Estados Unidos

     
• Localización: Automatica: A journal of IFAC the International Federation of Automatic Control, ISSN 0005-1098, Vol. 54, 2015, págs. 256-265
• Idioma: inglés
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• Resumen

  • Trajectory tracking of uncertain time-delay linear systems by output feedback control is of theoretical importance and practical value. In this paper, concentrating on a class of linear plants whose relative degree equals to system dimension, we develop a Lyapunov-based control scheme to achieve trajectory tracking despite some classic difficulties including unmeasurable system state, unknown plant parameters and unknown input time-delay. A comprehensive approach combining adaptive backstepping output feedback with prediction-based boundary control is employed in the design. The stability analysis exhibits the global boundedness of all closed-loop system signals and the tracking performance is also guaranteed.