Robust Adaptive Backstepping Control of a Nonlinear System with Uncertainty, Disturbance and Unknown Time Delay

In this paper, robust adaptive control is presented for a class of nonlinear systems in strict feedback form with unknown time delay. By using Lyapunov-Krasovskii functional, terms having time delay are deleted from adaptation and control laws. Adaptive backstepping method is used to design controller and it is shown this controller guarantees global uniform asymptotic stability of the system. The proposed controller is proved to be robust against unknown time delay and bounded disturbances. Simulation results are provided to show the effectiveness of the proposed approach.

کلیدواژه ها:

Robust adaptive control ، unknown time delay ، bounded disturbance ، adaptive backstepping