M.-C. Pai∗
Model following, sliding mode control, time-delay, tracking error
This paper presents an approach of designing tracking and model following controllers for a class of linear systems with both state and input delays. The algorithm is based on sliding mode control and time-delay control theory. For systems with mismatched state and input delays, a sufficient condition is presented such that the controller ensures ultimate boundedness of the tracking error. For systems with matched state and input delays, the proposed controller can guarantee that the tracking error decreases asymptotically to zero. This scheme ensures the stability and robustness against time delays without state transformation. Finally, simulation results demonstrate the efficiency of the proposed control methodology.
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