Adaptive Backstepping Control for a Class of Nonlinear Systems With Unknown Time Delay

In this paper, an adaptive backstepping control scheme is proposed for a class of nonlinear systems with unknown time delay. The unknown time delay in the system depends on all system states, which will inevitably destroy the triangular structure of the control system. Therefore, traditional backste...

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Bibliographic Details
Published inIEEE access Vol. 8; pp. 229 - 236
Main Authors Qian, Feng, Cai, Jianping, Wang, Binrui, Yu, Rui
Format Journal Article
LanguageEnglish
Published Piscataway IEEE 2020
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Adaptive control
Adaptive systems
Algorithms
Backstepping
Control systems design
Controllers
Delay effects
Delays
Mathematical model
nonlinear system
Nonlinear systems
Stability analysis
State vectors
time delay
Time lag
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Summary:In this paper, an adaptive backstepping control scheme is proposed for a class of nonlinear systems with unknown time delay. The unknown time delay in the system depends on all system states, which will inevitably destroy the triangular structure of the control system. Therefore, traditional backstepping can not be used to design the controller. In order to overcome the problem caused by "non-triangular structure", we construct a linear projection between the state vector and its transform in controller design. Using inequality and adaptive backstepping control, we compensate the uncertainties caused by unknown time delays. Finally, the simulation results show that the proposed algorithm is effective.
ISSN:2169-3536
2169-3536
DOI:10.1109/ACCESS.2019.2961140