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IMA Journal of Mathematical Control and Information Advance Access originally published online on August 28, 2006
IMA Journal of Mathematical Control and Information 2007 24(3):299-313; doi:10.1093/imamci/dnl022
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© The author 2006. Published by Oxford University Press on behalf of the Institute of Mathematics and its Applications. All rights reserved.

Robust adaptive sliding-mode control for continuous time-delay systems

Mohamed N. Nounou{dagger}

Texas A&M University at Qatar, Doha, Qatar

Hazem N. Nounou

Department of Electrical Engineering, Texas A&M University at Qatar, Doha, Qatar

Magdi S. Mahmoud

C-Group Hi-Tech Consultants, Dokki-Giza, Egypt

{dagger} Email: mohamed.nounou{at}qatar.tamu.edu

Received on June 28, 2005; Accepted on July 20, 2006

This paper focuses on the development of a robust adaptive sliding-mode scheme for the control of a class of uncertain time-delay systems with time-varying delays. The uncertainties are parametric and norm-bounded. Two main problems are investigated. In the first problem, a sliding-mode observer-based output feedback control scheme is developed. In the second problem, a robust redesign approach is developed yielding an adaptive-based controller against controller and sliding-mode observer gain perturbations. The objective is to derive stability conditions for the closed-loop system in the presence of gain perturbations. Simulation results are obtained through a numerical example.

Keywords: adaptive control; sliding-mode observer; output feedback control; robust control; time-delay systems.


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