Regular Papers
International Journal of Control, Automation and Systems 2021; 19(12): 4078-4089
Published online December 6, 2021
https://doi.org/10.1007/s12555-020-0708-y
© The International Journal of Control, Automation, and Systems
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 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.
Keywords Adaptive control, dynamic uncertainties, input delay, multi-dimensional Taylor network, nonlinear systems.
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Regular Papers
International Journal of Control, Automation and Systems 2021; 19(12): 4078-4089
Published online December 1, 2021 https://doi.org/10.1007/s12555-020-0708-y
Copyright © The International Journal of Control, Automation, and Systems.
Adaptive Tracking Control of a Class of Nonlinear Systems with Input Delay and Dynamic Uncertainties Using Multi-dimensional Taylor Network
Yu-Qun Han, Wen-Jing He, Na Li, and Shan-Liang Zhu*
University of Science and Technology
Abstract
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.
Keywords: Adaptive control, dynamic uncertainties, input delay, multi-dimensional Taylor network, nonlinear systems.
Vol. 23, No. 1, pp. 1~88
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