Exponential Tracking Control for a Class of Uncertain Nonlinear Systems With Time-Varying Delay Arguments and Deadzone Nonlinearities

In this paper, the tracking problem for a class of uncertain nonlinear systems with time-varying delay arguments and deadzone nonlinearities is considered. A feedback control is proposed such that the states of the feedback-controlled system track the desired trajectories with any prespecified exponential rate of convergence. A numerical example is provided to illustrate the use of our main result.

[1]  M. Corless,et al.  Continuous state feedback guaranteeing uniform ultimate boundedness for uncertain dynamic systems , 1981 .

[2]  V. Kolmanovskii,et al.  Stability of Functional Differential Equations , 1986 .

[3]  George J. Marvin P. Pastel Thaler,et al.  Analysis And Design Of Nonlinear Feedback Control Systems , 1962 .

[4]  J. Hale.  Theory of Functional Differential Equations , 1977 .

[5]  T. Chern,et al.  Design of integral variable structure controller and application to electrohydraulic velocity servosystems , 1991 .

[6]  Dong H. Chyung.  Feedforward Tracking Controller for Systems Containing Time Delays in Both State and Control Variables , 1990, 1990 American Control Conference.

[7]  A. Zinober.  Variable Structure and Lyapunov Control , 1994 .

[8]  Yik-Chung Wu,et al.  Integral variable structure control approach for robot manipulators , 1992 .

[9]  Dong H. Chyung.  Tracking Controller for Linear Systems With Time Delays in Both State and Control Variables , 1993 .

[10]  T. A. Burton,et al.  Stability and Periodic Solutions of Ordinary and Functional Differential Equations , 1986 .

[11]  Gang Tao.  Adaptive control of partially known systems , 1995, IEEE Trans. Autom. Control..

[12]  Dong H. Chyung.  Tracking Controller for Output Feedback Linear Time Delay Systems , 1993, 1993 American Control Conference.

[13]  Gang Tao,et al.  Adaptive control of plants with unknown dead-zones , 1994 .

[14]  T.-L. Chern,et al.  Design of brushless DC position servo systems using integral variable structure approach , 1993 .

[15]  Robust tracking controller for time delay systems , 1989, Proceedings of the 28th IEEE Conference on Decision and Control,.

[16]  Tzuen-Lih Chen,et al.  An optimal variable structure control with integral compensation for electrohydraulic position servo control systems , 1992, IEEE Trans. Ind. Electron..

[17]  P. Kokotovic,et al.  Adaptive nonlinear control of systems containing a deadzone , 1991, [1991] Proceedings of the 30th IEEE Conference on Decision and Control.