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

IEEE Access

Jianping Cai¹  Binrui Wang²  Feng Qian²  Rui Yu² 

[1] College of Electrical Engineering, Zhejiang University of Water Resource and Electric Power, Hangzhou, China;College of Mechanical and Electrical Engineering, China Jiliang University, Hangzhou, China;

关键词: Adaptive control;    backstepping;    time delay;    nonlinear system;   

DOI  :  10.1109/ACCESS.2019.2961140

来源: DOAJ

【 摘 要 】

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.

【 授权许可】

Unknown