Adaptive Control of Nonlinear Time-Delay Systems

摘要

This project concerns the development of adaptive control of linear and nonlinear dynamic system in the presence of unknown time-delays. Over the past three years, we have used the following three approaches to make inroads into this very difficult problem. These include: Use Lyapunov-Krasavoskii functionals to develop controller structure and adaptive laws that will guarantee a stable adaptive system when the delay is unknown. Represent time- delay as an unknown parameter and treat the underlying system as being nonlinearly parameterized, and develop adaptive methods for nonlinearly parameterized systems. Develop adaptive methods in the presence of uncertainties due to failures and actuator saturation so that they can be integrated into the solutions using either of the above two approaches. The results obtained are summarized in the final report, three technical reports, and several conference publications.