Many systems must operate in the presence of delays both internal to the system and in its inputs and outputs. In this paper we present a robustness result for mildly nonlinear systems. We use this result to show that, for small unknown time varying input delays, a simple adaptive controller can produce output regulation to a neighborhood with radius dependent upon the size of an upper bound on the delay. This regulation occurs in the presence of persistent disturbances and the convergence is exponential. We conclude with an example to illustrate the behavior of this adaptive control law.
- Aerospace Division
Robust Adaptive Control of Mildly Nonlinear Systems With Time Varying Input/Output Delays
Nelson, JP, Balas, MJ, & Erwin, RS. "Robust Adaptive Control of Mildly Nonlinear Systems With Time Varying Input/Output Delays." Proceedings of the ASME 2012 Conference on Smart Materials, Adaptive Structures and Intelligent Systems. Volume 1: Development and Characterization of Multifunctional Materials; Modeling, Simulation and Control of Adaptive Systems; Structural Health Monitoring. Stone Mountain, Georgia, USA. September 19–21, 2012. pp. 271-279. ASME. https://doi.org/10.1115/SMASIS2012-7924
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