A Novel Delay-Independent Robust Adaptive Controller Design for Uncertain Nonlinear Systems With Time-Varying State Delay

Abstract

In this paper, two novel adaptive control strategies are presented based on the linear matrix inequality for nonlinear Lipschitz systems. The proposed approaches are developed by creatively using Krasovskii stability theory to compensate parametric uncertainty, unknown time-varying internal delay, and bounded matched or mismatched disturbance effects in closed-loop system of nonlinear systems. The online adaptive tuning controllers are designed such that reference input tracking and asymptotic stability of the closed-loop system are guaranteed. A novel structural algorithm is developed based on linear matrix inequality (LMI) and boundaries of the system delay or uncertainty. The capabilities of the proposed tracking and regulation methods are verified by simulation of three physical uncertain nonlinear system with real practical parameters subject to internal or state time delay and disturbance.