Regular Papers
International Journal of Control, Automation and Systems 2017; 15(2): 611-618
Published online March 8, 2017
https://doi.org/10.1007/s12555-015-0293-7
© The International Journal of Control, Automation, and Systems
New Results on Adaptive Control for a Class of Delayed Nonholonomic Systems
This paper introduces a new class of uncertain delayed nonholonomic systems and studies the adaptive control problem. A distinct characteristic of this work lies in that uncertain parameters and unknown time-delay exist in the system simultaneously. By proposing a dynamic gain based Lyapunov-Krasovskii method, we construct an explicit adaptive controller, which guarantees the boundedness of the states of the closed-loop system and the convergence of the original system states. Examples are provided to show the effectiveness of the presented method."
Keywords Adaptive control, dynamic gain, Lyapunov-Krasovskii method, nonholonomic systems, time-delay systems
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Regular Papers
International Journal of Control, Automation and Systems 2017; 15(2): 611-618
Published online April 1, 2017 https://doi.org/10.1007/s12555-015-0293-7
Copyright © The International Journal of Control, Automation, and Systems.
New Results on Adaptive Control for a Class of Delayed Nonholonomic Systems
Jin-Ming Huang, Zhen-Guo Liu, and Yu-Qiang Wu*
Qufu Normal University
Abstract
This paper introduces a new class of uncertain delayed nonholonomic systems and studies the adaptive control problem. A distinct characteristic of this work lies in that uncertain parameters and unknown time-delay exist in the system simultaneously. By proposing a dynamic gain based Lyapunov-Krasovskii method, we construct an explicit adaptive controller, which guarantees the boundedness of the states of the closed-loop system and the convergence of the original system states. Examples are provided to show the effectiveness of the presented method."
Keywords: Adaptive control, dynamic gain, Lyapunov-Krasovskii method, nonholonomic systems, time-delay systems
Vol. 23, No. 3, pp. 683~972
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