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Adaptive Control of a Chain of Integrators under Unknown Time-Varying Input Delay Using Noisy Output Feedback
Hyun-Wook JO Ho-Lim CHOI Jong-Tae LIM
IEICE TRANSACTIONS on Fundamentals of Electronics, Communications and Computer Sciences
Publication Date: 2014/08/01
Online ISSN: 1745-1337
Type of Manuscript: LETTER
Category: Systems and Control
chain of integrators, output feedback control, adaptive gain, time-varying input delay, sensor noise,
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Sensor noise prevents the exact measurement of output, which makes it difficult to guarantee the ultimate bound of the actual output and states, which is smaller than the sensor noise amplitude. Even worse, the time-varying delay in the input does not guarantee the boundedness of the actual output and states under sensor noise. In this letter, our considered system is a chain of integrators in which time-varying delay exists in the input and there is an additive form of sensor noise in the output measurement. To guarantee the arbitrarily small ultimate bound of the actual output and states, we newly propose an adaptive output feedback controller whose gain is tuned on-line. The merits of our control method over the existing results are clearly shown in the example.