Trajectory Tracking Under Unknown Delay and ODE Parameters
In Chapter 7 we presented an adaptive control design for an ODE system with a possibly large actuator delay of unknown length.We achieved global stability under full-state feedback.
In this chapter we generalize the design from Chapter 7 in two major ways: We extend it to ODEs with unknown parameters and extend it from equilibrium regulation to trajectory tracking. These issues were not pursued immediately in Chapter 7 for pedagogical reasons, to prevent the tool from achieving global adaptivity in the infinite-dimensional (delay) context from being buried under standard but nevertheless complicated details of ODE adaptive control.
KeywordsGlobal Stability Trajectory Tracking Reference Trajectory Uniform Boundedness Adaptation Gain
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