Tracking for nonlinear plants with multiple unknown time‐varying state delays using sliding mode with adaptation

Abstract

AbstractIn this paper, we develop a sliding mode model reference adaptive control (MRAC) scheme for a class of nonlinear dynamic systems with multiple time‐varying state delays, which is robust with respect to unknown plant delays, to a nonlinear perturbation, and to an external disturbance with unknown bounds. An appropriate Lyapunov–Krasovskii‐type functional is introduced to design the adaptation algorithms, and to prove stability. Copyright © 2009 John Wiley & Sons, Ltd.