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Adaptive robust tracking and model following of uncertain time-delay systems via output feedback control

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3 Author(s)
Hansheng Wu ; Dept. of Inf. Sci., Hiroshima Prefectural Univ., Japan ; Kawabata, H. ; Kawabata, K.

The problem of adaptive robust tracking and model following is considered for a class of linear dynamical systems with multiple delayed state perturbations, time-varying uncertain parameters, and external disturbance. A class of adaptive output feedback controllers is proposed for robust tracking of dynamical signals. Based on the strictly positive realness of the nominal system, it is shown from the Kalman-Yakubovitch lemma that the proposed adaptive robust output feedback tracking controller can guarantee the zero-error tracking.

Published in:

Control, Automation, Robotics and Vision Conference, 2004. ICARCV 2004 8th  (Volume:3 )

Date of Conference:

6-9 Dec. 2004