207,638 research outputs found

    Time-delay systems : stability, sliding mode control and state estimation

    Full text link
    University of Technology, Sydney. Faculty of Engineering and Information Technology.Time delays and external disturbances are unavoidable in many practical control systems such as robotic manipulators, aircraft, manufacturing and process control systems and it is often a source of instability or oscillation. This thesis is concerned with the stability, sliding mode control and state estimation problems of time-delay systems. Throughout the thesis, the Lyapunov-Krasovskii (L-K) method, in conjunction with the Linear Matrix Inequality (LMI) techniques is mainly used for analysis and design. Firstly, a brief survey on recent developments of the L-K method for stability analysis, discrete-time sliding mode control design and linear functional observer design of time-delay systems, is presented. Then, the problem of exponential stability is addressed for a class of linear discrete-time systems with interval time-varying delay. Some improved delay-dependent stability conditions of linear discrete-time systems with interval time-varying delay are derived in terms of linear matrix inequalities. Secondly, the problem of reachable set bounding, essential information for the control design, is tackled for linear systems with time-varying delay and bounded disturbances. Indeed, minimisation of the reachable set bound can generally result in a controller with a larger gain to achieve better performance for the uncertain dynamical system under control. Based on the L-K method, combined with the delay decomposition approach, sufficient conditions for the existence of ellipsoid-based bounds of reachable sets of a class of linear systems with interval time-varying delay and bounded disturbances, are derived in terms of matrix inequalities. To obtain a smaller bound, a new idea is proposed to minimise the projection distances of the ellipsoids on axes, with respect to various convergence rates, instead of minimising its radius with a single exponential rate. Therefore, the smallest possible bound can be obtained from the intersection of these ellipsoids. This study also addresses the problem of robust sliding mode control for a class of linear discrete-time systems with time-varying delay and unmatched external disturbances. By using the L-K method, in combination with the delay decomposition technique and the reciprocally convex approach, new LMI-based conditions for the existence of a stable sliding surface are derived. These conditions can deal with the effects of time-varying delay and unmatched external disturbances while guaranteeing that all the state trajectories of the reduced-order system are exponentially convergent to a ball with a minimised radius. Robust discrete-time quasi-sliding mode control scheme is then proposed to drive the state trajectories of the closed-loop system towards the prescribed sliding surface in a finite time and maintain it there after subsequent time. Finally, the state estimation problem is studied for the challenging case when both the system’s output and input are subject to time delays. By using the information of the multiple delayed output and delayed input, a new minimal order observer is first proposed to estimate a linear state functional of the system. The existence conditions for such an observer are given to guarantee that the estimated state converges exponentially within an Є-bound of the original state. Based on the L-K method, sufficient conditions for Є-convergence of the observer error, are derived in terms of matrix inequalities. Design algorithms are introduced to illustrate the merit of the proposed approach. From theoretical as well as practical perspectives, the obtained results in this thesis are beneficial to a broad range of applications in robotic manipulators, airport navigation, manufacturing, process control and in networked systems

    Stabilization of discrete-time systems with time-varying delay using simple lyapunov-krasovskii functional

    Get PDF
    This thesis studies stabilization of discrete time-delay systems based on Lyapunov-Krasovskii functional. Time-delays frequently occur in various practical systems, such as networked control systems, chemical processes, neural networks, and long transmission lines in pneumatic systems. The different phenomena that cause time-delay are: (a) Time needed to transport mass, energy or information; (b) Time lags get accumulated in great number of low-order systems connected in series; and (c) Sensors, such as analyzers; controllers need some time to implement a complicated control algorithm or process. The presence of delay causes in general performance degradation and may lead to instability within the system First, stability of networked control systems has been studied. Two available stability criteria for linear discrete time systems with interval like time varying delay have been considered. Also a numerical example has been solved and the results of both the stability criteria have been compared. Static output-feedback stabilization of discrete-time system with time-varying delay is studied next. Two stabilization approaches based on the above discussed stability criteria are studied. A numerical example has been solved and simulation results have been obtained for both the approaches. Simulation output indicates that the given stabilization approaches effectively stabilize the system and their performance in terms of achievable delay margin is compared

    On the continuous dependence with respect to sampling of the linear quadratic regulator problem for distributed parameter systems

    Get PDF
    The convergence of solutions to the discrete or sampled time linear quadratic regulator problem and associated Riccati equation for infinite dimensional systems to the solutions to the corresponding continuous time problem and equation, as the length of the sampling interval (the sampling rate) tends toward zero (infinity) is established. Both the finite and infinite time horizon problems are studied. In the finite time horizon case, strong continuity of the operators which define the control system and performance index together with a stability and consistency condition on the sampling scheme are required. For the infinite time horizon problem, in addition, the sampled systems must be stabilizable and detectable, uniformly with respect to the sampling rate. Classes of systems for which this condition can be verified are discussed. Results of numerical studies involving the control of a heat/diffusion equation, a hereditary of delay system, and a flexible beam are presented and discussed

    Robust stability and stabilization of nonlinear uncertain stochastic switched discrete-time systems with interval time-varying delays,

    Get PDF
    Abstract: This paper is concerned with robust stability and stabilization of nonlinear uncertain stochastic switched discrete time-delay systems. The system to be considered is subject to interval time-varying delays, which allows the delay to be a fast time-varying function and the lower bound is not restricted to zero. Based on the discrete Lyapunov functional, a switching rule for the robust stability and stabilization for the nonlinear uncertain stochastic discrete time-delay system is designed via linear matrix inequalities. Numerical examples are included to illustrate the effectiveness of the results

    Application of Finite-Time Stability Concepts to the Control of ATM Networks

    Get PDF
    When dealing with the stability of a system, a distinction should be made between classical Lyapunov Stability and Finite-Time Stability (FTS) (or Short-Time Stability). The concept of Lyapunov Asymptotic Stability is largely known to the control community; on the other hand a system is said to be finite-time stable if, once we fix a time-interval, its state does not exceeds some bounds during this time-interval. Often asymptotic stability is enough for practical applications, but there are some cases where large values of the state are not acceptable, for instance in the presence of saturations. In these cases, we need to check that these unacceptable values are not attained by the state; for these purposes FTS could be used. Some early results on FTS can be found in [9], [12] and [8]; more recently the concept of FTS has been revisited in the light of recent results coming from Linear Matrix Inequalities (LMIs) theory, which has allowed to find less conservative conditions guaranteeing FTS and finite time stabilization of uncertain, linear continuous-time systems (see [3]). In this note we consider the problem of applying some sufficient conditions for finite time stabilization to design the control algorithm of an ATM network described via a discrete-time system. The extended abstract is organized as follows: in Section 2 we provide a sufficient condition for finite time stabilization of a discrete time system; in Section 3 we detail the model of an ATM network; finally in Section 4 some concluding remarks and plans for the final version of the paper are given

    FINITE-TIME STABILITY ANALYSIS OF DISCRETE TIME-DELAY SYSTEMS USING DISCRETE CONVOLUTION OF DELAYED STATES

    Get PDF
    Finite-time stability for the linear discrete-time system with state delay was investigated in this article. Stability of the system was analyzed using both the Lyapunov-like approach and the discrete Jensen’s inequality. A novel Lyapunov-like functional with a discrete convolution of delayed states was proposed and used for the derivation of the sufficient stability conditions of the investigated system. As a result, the novel stability conditions guarantee that the states of the systems do not exceed the predefined boundaries on a finite time interval. The proposed methodology was illustrated with a numerical example. A computer simulation was performed for the analysis of the dynamical behavior of this system

    Interval Observer Design for Actuator Fault Estimation of Linear Parameter-Varying Systems

    Get PDF
    International audienceThis work is devoted to fault estimation of discrete-time Linear Parameter-Varying (LPV) systems subject to actuator additive faults and external disturbances. Under the assumption that the measurement noises and the disturbances are unknown but bounded, an interval observer is designed, based on decoupling the fault effect, to compute a lower and upper bounds for the unmeasured state and the faults. Stability conditions are expressed in terms of matrices inequalities. A case study is used to illustrate the effectiveness of the proposed approach

    Asynchronously switching control of discrete-time switched systems with a Φ-dependent integrated dwell time approach

    Get PDF
    In this paper, the asynchronous control problem is investigated and a multiple convex Lyapunov functions (MCLF) approach is introduced for a class of discrete-time switched linear systems under the Φ \Phi -dependent integrated dwell time (Φ \Phi DIDT) switching strategy. For the problem of asynchronous switching, this paper considers that Lyapunov functions may jump when the subsystem switches or the controller changes. Thus, the constructed MCLF is dependent on both the asynchronous interval and the synchronous interval, and the synchronous interval is divided into the convex interval and non-convex interval parts. Some sufficient conditions of stability with Linear matrix inequality (LMI) forms are obtained, and the asynchronous controller is designed to guarantee the globally uniform exponential stability of the system under study. In addition, the proposed method can degenerate to the existing methods to deal with the asynchronous control problem. Finally, a numerical example illustrates the superiority of the proposed method

    Robustness analysis of discrete predictor-based controllers for input-delay systems

    Full text link
    In this article, robustness to model uncertainties are analysed in the context of discrete predictor-based state-feedback controllers for discrete-time input-delay systems with time-varying delay, in an LMI framework. The goal is comparing robustness of predictor-based strategies with respect to other (sub)optimal state feedback ones. A numerical example illustrates that improvements in tolerance to modelling errors can be achieved by using the predictor framework.The authors are grateful for grant nos. DPI2008-06737-C02-01, DPI2008-06731-C02-01, DPI2011-27845-C02-01 and PROMETEO/2008/088 from the Spanish and Valencian governments.González Sorribes, A.; Sala, A.; García Gil, PJ.; Albertos Pérez, P. (2013). Robustness analysis of discrete predictor-based controllers for input-delay systems. International Journal of Systems Science. 44(2):232-239. https://doi.org/10.1080/00207721.2011.600469S232239442Boukas, E.-K. (2006). Discrete-time systems with time-varying time delay: Stability and stabilizability. Mathematical Problems in Engineering, 2006, 1-10. doi:10.1155/mpe/2006/42489Du, D., Jiang, B., & Zhou, S. (2008). Delay-dependent robust stabilisation of uncertain discrete-time switched systems with time-varying state delay. International Journal of Systems Science, 39(3), 305-313. doi:10.1080/00207720701805982El Ghaoui, L., Oustry, F., & AitRami, M. (1997). A cone complementarity linearization algorithm for static output-feedback and related problems. IEEE Transactions on Automatic Control, 42(8), 1171-1176. doi:10.1109/9.618250Gao, H., & Chen, T. (2007). New Results on Stability of Discrete-Time Systems With Time-Varying State Delay. IEEE Transactions on Automatic Control, 52(2), 328-334. doi:10.1109/tac.2006.890320Gao, H., Wang, C., Lam, J., & Wang, Y. (2004). Delay-dependent output-feedback stabilisation of discrete-time systems with time-varying state delay. IEE Proceedings - Control Theory and Applications, 151(6), 691-698. doi:10.1049/ip-cta:20040822Gao, H., Chen, T., & Lam, J. (2008). A new delay system approach to network-based control. Automatica, 44(1), 39-52. doi:10.1016/j.automatica.2007.04.020Garcia , P , Castillo , P , Lozano , R and Albertos , P . 2006 . Robustness with Respect to Delay Uncertainties of a Predictor Observer Based Discrete-time Controller . Proceeding of the 45th IEEE Conference on Decision and Control . 2006 . pp. 199 – 204 .Guo , Y and Li , S . 2009 . New Stability Criterion for Discrete-time Systems with Interval Time-varying State Delay . Joint 48th IEEE Conference on Decision and Control and 28th Chinese Control Conference . 2009 . pp. 1342 – 1347 .Hägglund, T. (1996). An industrial dead-time compensating PI controller. Control Engineering Practice, 4(6), 749-756. doi:10.1016/0967-0661(96)00065-2V.J.S. Leite, and Miranda, M.F. (2008), ‘Robust Stabilization of Discrete-time Systems with Time-varying Delay: An LMI Approach’,Mathematical Problems in Engineering, 2008, 15 pages (doi:10.1155/2008/875609)Liu, X. G., Tang, M. L., Martin, R. R., & Wu, M. (2006). Delay-dependent robust stabilisation of discrete-time systems with time-varying delay. IEE Proceedings - Control Theory and Applications, 153(6), 689-702. doi:10.1049/ip-cta:20050223Lozano, R., Castillo, P., Garcia, P., & Dzul, A. (2004). Robust prediction-based control for unstable delay systems: Application to the yaw control of a mini-helicopter. Automatica, 40(4), 603-612. doi:10.1016/j.automatica.2003.10.007Manitius, A., & Olbrot, A. (1979). Finite spectrum assignment problem for systems with delays. IEEE Transactions on Automatic Control, 24(4), 541-552. doi:10.1109/tac.1979.1102124Michiels, W., & Niculescu, S.-I. (2003). On the delay sensitivity of Smith Predictors. International Journal of Systems Science, 34(8-9), 543-551. doi:10.1080/00207720310001609057Palmor, Z.J. (1996), ‘Time-delay Compensation – Smith Predictor and Its Modifications’, inThe Control Handbook, ed. W.S. Levine, Boca Raton: CRC Press, pp. 224–237Pan, Y.-J., Marquez, H. J., & Chen, T. (2006). Stabilization of remote control systems with unknown time varying delays by LMI techniques. International Journal of Control, 79(7), 752-763. doi:10.1080/00207170600654554Richard, J.-P. (2003). Time-delay systems: an overview of some recent advances and open problems. Automatica, 39(10), 1667-1694. doi:10.1016/s0005-1098(03)00167-5Wang, Q.-G., Lee, T. H., & Tan, K. K. (1999). Finite-Spectrum Assignment for Time-Delay Systems. Lecture Notes in Control and Information Sciences. doi:10.1007/978-1-84628-531-8He, Y., Wu, M., Han, Q.-L., & She, J.-H. (2008). Delay-dependentH∞control of linear discrete-time systems with an interval-like time-varying delay. International Journal of Systems Science, 39(4), 427-436. doi:10.1080/00207720701832531Yue, D., & Han, Q.-L. (2005). Delayed feedback control of uncertain systems with time-varying input delay. Automatica, 41(2), 233-240. doi:10.1016/j.automatica.2004.09.006Zhang, B., Xu, S., & Zou, Y. (2008). Improved stability criterion and its applications in delayed controller design for discrete-time systems. Automatica, 44(11), 2963-2967. doi:10.1016/j.automatica.2008.04.01
    corecore