A Predictor-Based Model Reference Adaptive Controller for Time-Delay Systems

Kim-Doang Nguyen

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A Predictor-Based Model Reference Adaptive Controller for Time-Delay Systems

机译：时滞系统的基于预测器的模型参考自适应控制器

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摘要

This paper presents novel modifications to a predictor-based model reference adaptive controller (PMRAC) to compensate for input delays in uncertain nonlinear systems. A delay-dependent stability condition, derived using a Lyapunov–Krasovskii functional, indicates that there exists a time delay margin, below which the asymptotic stability of the tracking and estimation errors as well as the input-to-state stability of the closed-loop system are guaranteed. Numerical experiments are carried out with comparisons to the original PMRAC and to a finite spectrum assignment scheme to validate the theoretical claims. The results also illustrate the effectiveness of the proposed delay compensation formulation and the asymptotic behaviors of the tracking and estimation errors.

机译：本文提出了对基于预测变量的模型参考自适应控制器（PMRAC）的新颖修改，以补偿不确定非线性系统中的输入延迟。使用Lyapunov–Krasovskii泛函推导的依赖于延迟的稳定性条件，表明存在一个时延裕度，在该裕度以下，跟踪和估计误差的渐近稳定性以及闭环的输入状态稳定性系统得到保证。通过与原始PMRAC和有限频谱分配方案进行比较，进行了数值实验，以验证理论要求。结果还说明了所提出的延迟补偿公式的有效性以及跟踪和估计误差的渐近行为。

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来源
《Automatic Control, IEEE Transactions on》 |2018年第12期|4375-4382|共8页
作者
Kim-Doang Nguyen;
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作者单位

Department of Mechanical Engineering, South Dakota State University, Brookings, SD, USA;

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正文语种 eng
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关键词
Delays; Stability analysis; Asymptotic stability; Mathematical model; Numerical stability; Delay effects; Predictive models;

机译：时滞;稳定性分析;渐近稳定性;数学模型;数值稳定性;时滞效应;预测模型;

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1. A two-stage design of adaptive fuzzy controllers for time-delay systems with unknown models [J] . J. S. TAUR, G. H. LEE, C. W. TAO International journal of systems science . 2007,第5期

机译：模型未知的时滞系统自适应模糊控制器的两阶段设计
2. Robust tuning of a generalized predictor-based controller for integrating and unstable systems with long time-delay [J] . García P., Albertos P. Journal of Process Control . 2013,第8期

机译：鲁棒的基于广义预测器的控制器的集成，用于集成和时滞较长的不稳定系统
3. A Model Reference Variable Structure Controller Design for Time-Delay Systems with Input Nonlinearities [J] . Chien-Hsin CHOU, Chin-Chiang CHENG JSME International Journal. Series C, Mechanical Systems, Machine Elements and Manufacturing . 2002,第3期

机译：输入非线性时滞系统的模型参考变结构控制器设计
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5. Stability Analysis and Controller Design for Switched Time-Delay Systems. [D] . Moezzi Madani, Kaveh. 2010

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6. Model-Based Evaluation of Closed-Loop Deep Brain Stimulation Controller to Adapt to Dynamic Changes in Reference Signal [O] . Fei Su, Karthik Kumaravelu, Jiang Wang, 2010

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7. A Nonlinear Dynamic Inversion Predictor-Based Model Reference Adaptive Controller for a Generic Transport Model [O] . Campbell Stefan F., Kaneshige John T. 2010

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8. Nonlinear Dynamic Inversion Predictor-Based Model Reference Adaptive Controller for a Generic Transport Model [R] . 2010

机译：基于非线性动态反演预测器的通用传输模型模型参考自适应控制器

A Predictor-Based Model Reference Adaptive Controller for Time-Delay Systems

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