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论文类型： 期刊论文

发表时间： 2017-12-10

发表刊物： INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE

收录刊物： SCIE、EI、Scopus

卷号： 48

期号： 16

页面范围： 3440-3449

ISSN号： 0020-7721

关键字： Adaptive control; time-varying delays; backstepping; uncertain systems; unmodelled dynamics

摘要： 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.