Title :
Saturated control of an uncertain Euler-Lagrange system with input delay
Author :
Fischer, N. ; Dani, A. ; Sharma, N. ; Dixon, W.E.
Author_Institution :
Department of Mechanical and Aerospace Engineering, University of Florida, Gainesville, USA
Abstract :
This paper examines saturated control of a general class of uncertain nonlinear Euler-Lagrange systems with time-delayed actuation and additive bounded disturbances. The bound on the control is known a priori and can be adjusted by changing the feedback gains. A Lyapunov-based stability analysis utilizing Lyapunov-Krasovskii functionals is provided to prove uniformly ultimately bounded tracking despite uncertainties in the dynamics.
Keywords :
Actuators; Delay; Delay effects; Linear systems; Nonlinear systems; Stability analysis;
Conference_Titel :
Decision and Control and European Control Conference (CDC-ECC), 2011 50th IEEE Conference on
Conference_Location :
Orlando, FL, USA
Print_ISBN :
978-1-61284-800-6
Electronic_ISBN :
0743-1546
DOI :
10.1109/CDC.2011.6160646
