Adaptive Input-Constrained Control of High-Order Fully Actuated Nonlinear Time-Delay Systems with Unmodeled Dynamics
摘要
Building upon the adaptive control strategies in the previous chapter, this chapter extends the discussion by considering the challenges posed by input dead zones and unmodeled dynamics in high-order fully actuated nonlinear systems with time delays. Input dead zones, such as actuator saturation or physical limitations; Unmodeled dynamics, such as friction or unmodeled higher-order effects, can significantly degrade control performance.