307 research outputs found
Predictor-Feedback Stabilization of Multi-Input Nonlinear Systems
We develop a predictor-feedback control design for multi-input nonlinear
systems with distinct input delays, of arbitrary length, in each individual
input channel. Due to the fact that different input signals reach the plant at
different time instants, the key design challenge, which we resolve, is the
construction of the predictors of the plant's state over distinct prediction
horizons such that the corresponding input delays are compensated. Global
asymptotic stability of the closed-loop system is established by utilizing
arguments based on Lyapunov functionals or estimates on solutions. We
specialize our methodology to linear systems for which the predictor-feedback
control laws are available explicitly and for which global exponential
stability is achievable. A detailed example is provided dealing with the
stabilization of the nonholonomic unicycle, subject to two different input
delays affecting the speed and turning rate, for the illustration of our
methodology.Comment: Submitted to IEEE Transactions on Automatic Control on May 19 201
Nonlinear predictors for systems with bounded trajectories and delayed measurements
Novel nonlinear predictors are studied for nonlinear systems with delayed measurements without
assuming globally Lipschitz conditions or a known predictor map but requiring instead bounded state
trajectories. The delay is constant and known. These nonlinear predictors consists of a series of dynamic
filters that generate estimates of the state vector (and its maximum magnitude) at different delayed time
instants which differ from one another by a small fraction of the overall delay
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