7,423 research outputs found
Robust Predictive Extended State Observer for a Class of Nonlinear Systems with Time-Varying Input Delay
[EN] This paper deals with asymptotic stabilisation of a class of nonlinear input-delayed systems via dynamic output feedback in the presence of disturbances. The proposed strategy has the structure of an observer-based control law, in which the observer estimates and predicts both the plant state and the external disturbance. A nominal delay value is assumed to be known and stability conditions in terms of linear matrix inequalities are derived for fast-varying delay uncertainties. Asymptotic stability is achieved if the disturbance or the time delay is constant. The controller design problem is also addressed and a numerical example with an unstable system is provided to illustrate the usefulness of the proposed strategy.This work was partially supported by: Ministerio de EconomĂa y Competitividad, Spain (TIN2017-86520-C3-1-R); Universitat PolitĂšcnica de ValĂšncia (FPI-UPV 2014 PhD Grant); and Israel Science Foundation (Grant No. 1128/14).Sanz Diaz, R.; GarcĂa Gil, PJ.; Fridman, E.; Albertos PĂ©rez, P. (2020). Robust Predictive Extended State Observer for a Class of Nonlinear Systems with Time-Varying Input Delay. International Journal of Control. 93(2):217-225. https://doi.org/10.1080/00207179.2018.1562204S217225932Ahmed-Ali, T., Cherrier, E., & Lamnabhi-Lagarrigue, F. (2012). Cascade High Gain Predictors for a Class of Nonlinear Systems. IEEE Transactions on Automatic Control, 57(1), 221-226. doi:10.1109/tac.2011.2161795Artstein, Z. (1982). Linear systems with delayed controls: A reduction. 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Disturbance attenuation and rejection for systems with nonlinearity via DOBC approach. International Journal of Robust and Nonlinear Control, 15(3), 109-125. doi:10.1002/rnc.978Karafyllis, I., & Krstic, M. (2017). Predictor Feedback for Delay Systems: Implementations and Approximations. Systems & Control: Foundations & Applications. doi:10.1007/978-3-319-42378-4Krstic, M. (2008). Lyapunov tools for predictor feedbacks for delay systems: Inverse optimality and robustness to delay mismatch. Automatica, 44(11), 2930-2935. doi:10.1016/j.automatica.2008.04.010LĂ©chappĂ©, V., Moulay, E., Plestan, F., Glumineau, A., & Chriette, A. (2015). New predictive scheme for the control of LTI systems with input delay and unknown disturbances. Automatica, 52, 179-184. doi:10.1016/j.automatica.2014.11.003LĂ©chappĂ©, V., Moulay, E. & Plestan, F. (2016). Dynamic observation-prediction for LTI systems with a time-varying delay in the input. 2016 IEEE 55th conference on decision and control (CDC) (pp. 2302â2307).Manitius, 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.1979.1102124Mazenc, F. & Malisoff, M. (2016). New prediction approach for stabilizing time-varying systems under time-varying input delay. 2016 IEEE 55th conference on decision and control (CDC) (pp. 3178â3182).Mondie, S., & Michiels, W. (2003). Finite spectrum assignment of unstable time-delay systems with a safe implementation. IEEE Transactions on Automatic Control, 48(12), 2207-2212. doi:10.1109/tac.2003.820147Najafi, M., Hosseinnia, S., Sheikholeslam, F., & Karimadini, M. (2013). Closed-loop control of dead time systems via sequential sub-predictors. 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A predictive extended state observer for a class of nonlinear systems with input delay subject to external disturbances. 2017 IEEE 56th annual conference on decision and control (CDC) (pp. 4345â4350).Sanz, R., Garcia, P., Fridman, E., & Albertos, P. (2018). Rejection of mismatched disturbances for systems with input delay via a predictive extended state observer. International Journal of Robust and Nonlinear Control, 28(6), 2457-2467. doi:10.1002/rnc.4027Shustin, E., & Fridman, E. (2007). On delay-derivative-dependent stability of systems with fast-varying delays. Automatica, 43(9), 1649-1655. doi:10.1016/j.automatica.2007.02.009Suplin, V., Fridman, E., & Shaked, U. (2007). Sampled-data Hâ control and filtering: Nonuniform uncertain sampling. Automatica, 43(6), 1072-1083. doi:10.1016/j.automatica.2006.11.024Yao, J., Jiao, Z., & Ma, D. (2014). RISE-Based Precision Motion Control of DC Motors With Continuous Friction Compensation. 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Stability Analysis of Integral Delay Systems with Multiple Delays
This note is concerned with stability analysis of integral delay systems with
multiple delays. To study this problem, the well-known Jensen inequality is
generalized to the case of multiple terms by introducing an individual slack
weighting matrix for each term, which can be optimized to reduce the
conservatism. With the help of the multiple Jensen inequalities and by
developing a novel linearizing technique, two novel Lyapunov functional based
approaches are established to obtain sufficient stability conditions expressed
by linear matrix inequalities (LMIs). It is shown that these new conditions are
always less conservative than the existing ones. Moreover, by the positive
operator theory, a single LMI based condition and a spectral radius based
condition are obtained based on an existing sufficient stability condition
expressed by coupled LMIs. A numerical example illustrates the effectiveness of
the proposed approaches.Comment: 14 page
Reduction-Based Robustness Analysis of Linear Predictor Feedback for Distributed Input Delays
Lyapunov-Krasovskii approach is applied to parameter- and delay-robustness
analysis of the feedback suggested by Manitius and Olbrot for a linear
time-invariant system with distributed input delay. A functional is designed
based on Artstein's system reduction technique. It depends on the norms of the
reduction-transformed plant state and original actuator state. The functional
is used to prove that the feedback is stabilizing when there is a slight
mismatch in the system matrices and delay values between the plant and
controller
A Review of Some Subtleties of Practical Relevance
This paper reviews some subtleties in time-delay systems of neutral type that are believed to be of particular relevance in practice. Both traditional formulation and the coupled differential-difference equation formulation are used. The discontinuity of the spectrum as a function of delays is discussed. Conditions to guarantee stability under small parameter variations are given. A number of subjects that have been discussed in the literature, often using different methods, are reviewed to illustrate some fundamental concepts. These include systems with small delays, the sensitivity of Smith predictor to small delay mismatch, and the discrete implementation of distributed-delay feedback control. The framework prsented in this paper makes it possible to provide simpler formulation and strengthen, generalize, or provide alternative interpretation of the existing results
Delay-robust stabilization of an n + m hyperbolic PDE-ODE system
International audienceIn this paper, we study the problem of stabilizing a linear ordinary differential equation through a system of an n + m (hetero-directional) coupled hyperbolic equations in the actuating path. The method relies on the use of a backstepping transform to construct a first feedback to tackle in-domain couplings present in the PDE system and then on a predictive tracking controller used to stabilize the ODE. The proposed control law is robust with respect to small delays in the control signal
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