Adaptive Tracking Of Uncertain Nonlinear Systems Under Different Types Of Input Delays With Urban Traffic Perimeter Control Application

Pragmatic design method of direct model reference adaptive control (MRAC) is developed for a class of uncertain systems, where various input channels might have different delays and taking into account the effect of control saturation. To overcome the difficulty of directly predict the plant state and cope with different kinds of input delays, the proposed control design relies on implicit time-delay prediction by using auxiliary linear Smith-like dynamic units with adjustable gains. The design is unified to different time delay categories, that is, constant, time-varying, or dependent on the current plant state. Within the context of the proposed approach, various adaptive control feedback strategies are designed for problems of continuous and sample-and-hold control implementations. Simulation results of a perimeter control for two interacting aggregate urban traffic regions are presented.