首页    期刊浏览 2024年12月05日 星期四
登录注册

文章基本信息

  • 标题:Lyapunov-Based Control of an Uncertain Euler-Lagrange System with Uncertain Time-Varying Input Delays without Delay Rate Constraints
  • 本地全文:下载
  • 作者:S. Obuz ; A. Parikh ; I. Chakraborty
  • 期刊名称:IFAC PapersOnLine
  • 印刷版ISSN:2405-8963
  • 出版年度:2016
  • 卷号:49
  • 期号:10
  • 页码:141-146
  • DOI:10.1016/j.ifacol.2016.07.506
  • 语种:English
  • 出版社:Elsevier
  • 摘要:AbstractA tracking controller is developed for a class of uncertain Euler-Lagrange systems with bounded external disturbances and an uncertain time-varying input delay. A novel filtered tracking error signal is designed to obtain a delay-free input signal in the closed-loop error system to facilitate the control design and analysis. The designed novel filtered tracking error consists of a finite integral over a constant estimated delay interval of the past control inputs as a means to compensate for the input delay. The maximum tolerable error between unknown time-varying delay and a constant estimate of the delay can be determined based on the selection of the control gains to provide uniformly ultimately bounded convergence of the tracking error to the origin. Lyapunov-Krasovskii functionals are used in the Lyapunov-based stability analysis
国家哲学社会科学文献中心版权所有