Documents disponibles écrits par cet auteur

Compensation of time-varying input and state delays for nonlinear systems / Nikolaos Bekiaris-Liberis in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 134 N° 1 (Janvier 2012) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 134 N° 1 (Janvier 2012) . - 14 p. Titre : Compensation of time-varying input and state delays for nonlinear systems Type de document : texte imprimé Auteurs : Nikolaos Bekiaris-Liberis, Auteur ; Krstic, Miroslav, Auteur Année de publication : 2012 Article en page(s) : 14 p. Note générale : Dynamic systems Langues : Anglais (eng) Mots-clés : Asymptotic  stability  Control  system  synthesis  Delays  Feedback  Lyapunov  methods  Nonlinear  control  systems  Predictive  control  Time-varying  systems Index. décimale : 553 Géologie économique. Minérographie. Minéraux. Formation et gisements de minerais 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=JDSMAA000134000001 [...] [article] Compensation of time-varying input and state delays for nonlinear systems [texte imprimé] / Nikolaos Bekiaris-Liberis, Auteur ; Krstic, Miroslav, Auteur . - 2012 . - 14 p. Dynamic systems Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 134 N° 1 (Janvier 2012) . - 14 p. Mots-clés : Asymptotic  stability  Control  system  synthesis  Delays  Feedback  Lyapunov  methods  Nonlinear  control  systems  Predictive  control  Time-varying  systems Index. décimale : 553 Géologie économique. Minérographie. Minéraux. Formation et gisements de minerais 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=JDSMAA000134000001 [...]