Nonsmooth feedback stabilization of a class of nonlinear systems with unknown control direction and time delay

作者：Rattanamongkhonkun, K.; Pongvuthithum, R.; Lin, Wei^*

来源：International Journal of Robust and Nonlinear Control, 2018, 28(17): 5358-5374.

DOI：10.1002/rnc.4317

• dynamic state compensation
• nonlinear systems
• nonsmooth feedback
• time-delay
• unknown control directions

The problem of global stabilization by nonsmooth state feedback is investigated for a family of time-delay nonlinear systems with unknown control direction. Using the idea of the Nussbaum function from universal control, we present a delay-free, nonsmooth dynamic state feedback strategy to achieve asymptotic state regulation with boundedness of the closed-loop system. The proposed control scheme allows one to design a set of Lyapunov-Krasovskii functionals and nonsmooth dynamic compensators simultaneously, by the technique of adding a power integrator. It is shown that while the effects of unknown control direction can be mitigated by the Nussbaum-type gains, the strong nonlinearity with time delay can be effectively dealt with by nonsmooth state feedback controllers whose gains are updated dynamically.

• 出版日期2018-11-25
• 单位东莞理工学院