Adaptive control of a nonlinear suspension with time-delay compensation

This paper addresses the challenge of predictive control of a quarter-car nonlinear suspension and low controller-precision. This is done by designing and implementing an adaptive controller with time-delay compensation. First, a real-time control model is created. Then, time-delay compensation is realized and both frequency-domain and time-domain simulation of the controller performance are conducted. According to the simulation results, the sprung-mass acceleration of the suspension controlled by an adaptive controller with time-delay compensation is superior to that without time-delay compensation. Both the period to settle down and the peak of vibration acceleration are smaller. This means the proposed controller is capable of dealing with problems including variable time delay, nonlinear vibration and predictive control

Control and synchronization of the generalized Lorenz system with mismatched uncertainties using backstepping technique and time‐delay estimation

Peer Reviewedhttps://deepblue.lib.umich.edu/bitstream/2027.42/140007/1/cta2353.pdfhttps://deepblue.lib.umich.edu/bitstream/2027.42/140007/2/cta2353_am.pd

Stability Guaranteed Time-Delay Control of Manipulators Using Nonlinear Damping and Terminal Sliding Mode

Time-delay control has been verified as a simple and robust controller for robot manipulators. However, time-delay estimation (TDE) error inherently exists and critically affects both the closed-loop stability and control performance. In this paper, we propose a remedy for the TDE error that involves a combination of a nonlinear damping component and a novel fast-convergent error dynamics. Nonlinear damping incorporated with a backstepping design is adopted to counteract TDE error and ensure closed-loop stability. The fast-convergent error dynamics, constructed by means of terminal sliding mode (TSM), is introduced to enhance the control performance degraded by the TDE error. Through a rigorous stability analysis, it is proved that the tracking error of the closed-loop system due to the proposed control scheme is globally uniformly ultimately bounded. Through simulations and experiments, it is verified that the nonlinear damping counteracts the TDE error, while the TSM speeds up the convergence of the error dynamics. Finally, these two elements together substantially enhance the control accuracy. © 1982-2012 IEEE.