| Titre : | Compensation of time-varying input and state delays for nonlinear systems (2012) |
| Auteurs : | Nikolaos Bekiaris-Liberis, Auteur ; Krstic, Miroslav, Auteur |
| Type de document : | Article : texte imprimé |
| Dans : | Transactions of the ASME . Journal of dynamic systems, measurement, and control (Vol. 134 N° 1, Janvier 2012) |
| Article en page(s) : | 14 p. |
| Note générale : | Dynamic systems |
| Langues : | Anglais |
| Index. décimale : | 553 (Géologie économique. Minérographie. Minéraux. Formation et gisements de minerais) |
| Tags : | Asymptotic stability Control system synthesis Delays Feedback Lyapunov methods Nonlinear control systems Predictive Time-varying |
| Résumé : | We consider general nonlinear systems with time-varying input and state delays for which we design predictor-based feedback controllers. Based on a time-varying infinite-dimensional backstepping transformation that we introduce, our controller achieves global asymptotic stability in the presence of a time-varying input delay, which is proved with the aid of a strict Lyapunov function that we construct. Then, we “backstep” one time-varying integrator and we design a globally stabilizing controller for nonlinear strict-feedback systems with time-varying delays on the virtual inputs. The main challenge in this case is the construction of the backstepping transformations since the predictors for different states use different prediction windows. Our designs are illustrated by three numerical examples, including unicycle stabilization. |
| DEWEY : | 553 |
| ISSN : | 0022-0434 |
| En ligne : | http://asmedl.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA000134000001011009000001&idtype=cvips&gifs=Yes&ref=no |
