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access icon free Input-delay compensation in a robust adaptive control framework

© The Institution of Engineering and Technology
Received 27/08/2018, Accepted 25/04/2019, Revised 22/03/2019, Published 30/04/2019

A modification to the control framework for uncertain systems with actuator delays is presented. Specifically, a time delay is introduced in the control input of the state predictor to compensate for the destabilising effect of an input delay in the plant. For this modified framework, the analysis shows that the output of the adaptive system closely follows the behaviour of a suitably defined, non-adaptive, stable reference system provided that a delay-dependent stability condition is satisfied and the adaptive gain is chosen sufficiently large. The set of combinations of input delay and compensation delay for which the stability condition is satisfied contains an open set of pairs of positive values provided that a filter bandwidth is chosen sufficiently large. The efficacy of the delay compensation is illustrated by a simple example. A numerical continuation is also performed to explore the stability region for a case where this can be approximated a priori.

Inspec keywords: compensation; robust control; delays; uncertain systems; control system synthesis; stability criteria; adaptive control; Lyapunov methods

Other keywords: state predictor; adaptive gain; compensation delay; time delay; stability region; delay-dependent stability condition; numerical continuation; control input; adaptive system; actuator delays; robust adaptive control framework; input-delay compensation; uncertain systems; stable reference system

Subjects: Self-adjusting control systems; Stability in control theory; Control system analysis and synthesis methods; Distributed parameter control systems; Algebra

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