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Lyapunov-based control of an uncertain Euler-Lagrange system with time-varying input delay

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4 Author(s)
N. Fischer ; Department of Mechanical and Aerospace Engineering, University of Florida, Gainesville, FL, USA ; R. Kamalapurkar ; N. Fitz-Coy ; W. E. Dixon

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.

Published in:

2012 American Control Conference (ACC)

Date of Conference:

27-29 June 2012