Adaptive Tracking Control of a Class of Nonlinear Systems with Input Delay and Dynamic Uncertainties Using Multi-dimensional Taylor Network

This paper concerns on the control problem of a class of nonlinear systems with input delay and dynamic uncertainties using multi-dimensional Taylor Network (MTN) control method. Firstly, a new variable is introduced to eliminate the effect of input delay by combining Padé approximation with Laplace...

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Bibliographic Details
Published in:International journal of control, automation, and systems 2021, Automation, and Systems, 19(12), , pp.4078-4089
Main Authors: Han, Yu-Qun, He, Wen-Jing, Li, Na, Zhu, Shan-Liang
Format: Article
Language:English
Subjects:
Adaptive control
Control
Control methods
Coordinate transformations
Delay
Engineering
Mechatronics
Nonlinear systems
Regular Papers
Robotics
Tracking control
Uncertainty
제어계측공학
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Summary:This paper concerns on the control problem of a class of nonlinear systems with input delay and dynamic uncertainties using multi-dimensional Taylor Network (MTN) control method. Firstly, a new variable is introduced to eliminate the effect of input delay by combining Padé approximation with Laplace transformation. Secondly, a MTN-backstepping-based control strategy is constructively designed by introducing a new coordinate transformation, and the proposed controller has the advantages of simple structure and good real-time performance. Finally, the effectiveness of the proposed MTN-based control approach is demonstrated by three examples.
ISSN:1598-6446
2005-4092
DOI:10.1007/s12555-020-0708-y