Immersion and invariance adaptive control for discrete-time systems in strict feedback form with input delay and disturbances
File(s)
Accepted version
Author(s)
Franco, E
Type
Journal Article
Abstract
This work presents a new adaptive control algorithm for a class of discrete-time systems in strict-feedback form with input delay and disturbances. The immersion and invariance formulation is used to estimate the disturbances and to compensate the effect of the input delay, resulting in a recursive control law. The stability of the closed-loop system is studied using Lyapunov functions, and guidelines for tuning the controller parameters are presented. An explicit expression of the control law in the case of multiple simultaneous disturbances is provided for the tracking problem of a pneumatic drive. The effectiveness of the control algorithm is demonstrated with numerical simulations considering disturbances and input-delay representative of the application.
Date Issued
2017-09-25
Date Acceptance
2017-09-01
Citation
International Journal of Adaptive Control and Signal Processing, 2017, 32 (1), pp.69-82
ISSN
0890-6327
Publisher
Wiley
Start Page
69
End Page
82
Journal / Book Title
International Journal of Adaptive Control and Signal Processing
Volume
32
Issue
1
Copyright Statement
© 2017 John Wiley & Sons, Ltd. This is the accepted version of the following article, which has been published in final form at http://onlinelibrary.wiley.com/doi/10.1002/acs.2825/abstract
Subjects
0906 Electrical And Electronic Engineering
0102 Applied Mathematics
Industrial Engineering & Automation
Publication Status
Published