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Backstepping tracking control for nonlinear time-delay systems. (English) Zbl 1158.93334

Summary: Two design approaches of state feedback and output feedback tracking controllers are proposed for a class of strict feedback nonlinear time-delay systems by using backstepping technique. When the states of system cannot be observed, the time-delay state observer is designed to estimate the system states. Domination method is used to deal with nonlinear time-delay function under the assumption that the nonlinear time-delay functions of systems satisfy Lipschitz condition. The global asymptotical tracking of the reference signal is achieved and the bound of all signals of the resultant closed-loop system is also guaranteed. By constructing a Lyapunov-Krasoviskii functional, the stability of the closed-loop system is proved. The feasibility of the proposed approach is illustrated by a simulation example.

MSC:

93B51 Design techniques (robust design, computer-aided design, etc.)
93B52 Feedback control
93D30 Lyapunov and storage functions
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