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In a recent paper we presented the first adaptive control design for an ODE system with a possibly large actuator delay of unknown length. We achieved global stability under full state feedback. In this paper we generalize the design to the situation where, besides the unknown delay value, the ODE also has unknown parameters, and where trajectory tracking (rather than equilibrium regulation) is pursued.
Stabilization of unstable systems with actuator delay of substantial length and of completely unknown value is an important problem that has never been attempted. We present a Lyapunov-based adaptive control design that achieves global stability, without a requirement that the delay estimate be near the true delay value. We solve the problem by employing a framework where the actuator delay is represented...
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