Title of Paper:Robust adaptive tracking control of uncertain systems with time-varying input delays

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Date of Publication:2017-12-10

Journal:INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE

Included Journals:SCIE、EI、Scopus

Volume:48

Issue:16

Page Number:3440-3449

ISSN No.:0020-7721

Key Words:Adaptive control; time-varying delays; backstepping; uncertain systems; unmodelled dynamics

Abstract:In this paper, the problem of robust adaptive tracking control of uncertain systems with time-varying input delays is studied. Under some mild assumptions, a robust adaptive controller is designed by using adaptive backstepping technique such that the system is globally stable and the system output can track a given reference signal. At the same time, a root mean square type of bound is obtained for the tracking error as a function of design parameters and thus can be adjusted. Finally, one numerical example is given to show the effectiveness of the proposed scheme.