Predictor-based control for an uncertain Euler-Lagrange system with input delay

@article{Sharma2010PredictorbasedCF,
  title={Predictor-based control for an uncertain Euler-Lagrange system with input delay},
  author={Nitin Sharma and Shubhendu Bhasin and Qiang Wang and Warren E. Dixon},
  journal={Proceedings of the 2010 American Control Conference},
  year={2010},
  pages={1422-1427}
}
Control of nonlinear systems with actuator delay is a challenging problem because of the need to develop some form of prediction of the nonlinear dynamics. The problem becomes more difficult for systems with uncertain dynamics. In this paper, tracking controllers are developed for an Euler-Lagrange system with time-delayed actuation, parametric uncertainty, and additive bounded disturbances. One controller is developed under the assumption that the inertia is known, and a second controller is… CONTINUE READING
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