Nonsmooth feedback stabilization of a class of nonlinear systems with unknown control direction and time delay
© 2018 John Wiley & Sons, Ltd. The problem of global stabilization by nonsmooth state feedback is investigated for a family of time-delay nonlinear systems with unknown control direction. Using the idea of the Nussbaum function from universal control, we present a delay-free, nonsmooth dynamic...
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| Main Authors: | , , |
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| Format: | Journal |
| Published: |
2018
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| Subjects: | |
| Online Access: | https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85053557257&origin=inward http://cmuir.cmu.ac.th/jspui/handle/6653943832/62607 |
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| Institution: | Chiang Mai University |
| Summary: | © 2018 John Wiley & Sons, Ltd. The problem of global stabilization by nonsmooth state feedback is investigated for a family of time-delay nonlinear systems with unknown control direction. Using the idea of the Nussbaum function from universal control, we present a delay-free, nonsmooth dynamic state feedback strategy to achieve asymptotic state regulation with boundedness of the closed-loop system. The proposed control scheme allows one to design a set of Lyapunov-Krasovskii functionals and nonsmooth dynamic compensators simultaneously, by the technique of adding a power integrator. It is shown that while the effects of unknown control direction can be mitigated by the Nussbaum-type gains, the strong nonlinearity with time delay can be effectively dealt with by nonsmooth state feedback controllers whose gains are updated dynamically. |
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