Adaptive Output Feedback Tracking Control for Nonlinear Time-Delay Systems With Sensor Uncertainties

Abstract

This paper focuses on the problem of adaptive output feedback tracking control for a specific class of nonlinear time-delay systems that are subject to uncertainties in the sensor measurements, external disturbances, and unknown parameters. The proposed control approach is based on the dynamic gain scaling technique, which involves constructing a state observer and an adaptive controller to mitigate the effects of sensor uncertainties. The use of a single dynamic gain simplifies the implementation of the controller. By selecting an appropriate Lyapunov-Krasovskii (L-K) functional, the time-delay terms can be eliminated, and it is possible to prove that all the closed-loop states are bounded. The proposed control scheme ensures that the real tracking error will converge to zero, thereby achieving the desired tracking performance.