DocumentCode
574517
Title
Lyapunov-based control of an uncertain Euler-Lagrange system with time-varying input delay
Author
Fischer, Normann ; Kamalapurkar, Rushikesh ; Fitz-Coy, N. ; Dixon, Warren E.
Author_Institution
Dept. of Mech. & Aerosp. Eng., Univ. of Florida, Gainesville, FL, USA
fYear
2012
fDate
27-29 June 2012
Firstpage
3919
Lastpage
3924
Abstract
This paper examines control of a general class of uncertain nonlinear Euler-Lagrange systems with time-varying input delay and additive bounded disturbances. A Lyapunov-based stability analysis utilizing Lyapunov-Krasovskii functionals is provided to prove semi-global uniformly ultimately bounded tracking. Simulation results demonstrate the robustness of the control design with respect to the delay.
Keywords
Lyapunov methods; control system synthesis; delays; nonlinear control systems; robust control; time-varying systems; uncertain systems; Lyapunov-Krasovskii functionals; Lyapunov-based control; Lyapunov-based stability analysis; additive bounded disturbances; control design robustness; semiglobal uniformly ultimately bounded tracking; time-varying input delay; uncertain nonlinear Euler-Lagrange systems; Additives; Delay; Nonlinear systems; Robustness; Stability analysis; Time varying systems; Uncertainty;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference (ACC), 2012
Conference_Location
Montreal, QC
ISSN
0743-1619
Print_ISBN
978-1-4577-1095-7
Electronic_ISBN
0743-1619
Type
conf
DOI
10.1109/ACC.2012.6315102
Filename
6315102
Link To Document