Robust adaptive control of nonlinear systems with unknown time delays

  title={Robust adaptive control of nonlinear systems with unknown time delays},
  author={Shuzhi Sam Ge and Fan Hong and Tong Heng Lee},
  journal={Proceedings of the 2004 IEEE International Symposium on Intelligent Control, 2004.},
In this work, robust adaptive control is presented for a class of parametric-strict-feedback nonlinear systems with unknown time delays. Using appropriate Lyapunov-Krasovskii functional, the uncertainties of unknown time delays are compensated for. Controller singularity problems are solved by employing practical robust control and regrouping unknown parameters. By using differentiable approximation, backstepping design can be carried out for a class of nonlinear systems in strict-feedback form… CONTINUE READING
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