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IMA Journal of Mathematical Control and Information Advance Access first published online on August 28, 2006
This version published online on March 22, 2007
IMA Journal of Mathematical Control and Information, 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 28 June 2005; Accepted on 20 July 2006


  Abstract

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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