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RISE-based control of an uncertain nonlinear system with time-varying state delays | IEEE Conference Publication | IEEE Xplore

RISE-based control of an uncertain nonlinear system with time-varying state delays


Abstract:

This paper considers a continuous control design for second-order control affine nonlinear systems with time-varying state delays. A neural network is augmented with a ro...Show More

Abstract:

This paper considers a continuous control design for second-order control affine nonlinear systems with time-varying state delays. A neural network is augmented with a robust integral of the sign of the error (RISE) control structure to achieve semi-global asymptotic tracking in the presence of unknown, arbitrarily large, time-varying delays, not linear-in-the-parameters uncertainty and additive bounded disturbances. By expressing unknown functions in terms of the desired trajectories and through strategic grouping of delay-free and delay-dependent terms, Lyapunov-Krasovskii functionals are utilized to cancel the delayed terms in the analysis and obtain delay-free neural network update laws.
Date of Conference: 10-13 December 2012
Date Added to IEEE Xplore: 04 February 2013
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Conference Location: Maui, HI, USA

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