International audienceIt is well-known that standard predictive techniques are not very robust to parameter uncertainties and to external disturbances. Furthermore, they require the exact knowledge of the delay. In practice, these constraints are rarely satisfied. In this paper, solutions are presented to allow the use of predictive control in presence of external disturbances, parameter uncertainties and an unknown input delay. First, a recent predictive control method developed to attenuate the effect of external disturbances is shown to be also robust to parameter uncertainties. In addition, a delay estimator is presented to estimate unknown time-varying delays. Theoretical results are widely illustrated through experimental tests on a DC motor

This article provides an online time-varying delay estimation method by using an external signal sent along with control inputs and output measurements. Since the external signal is isolated from the system, the linearity and delay-identifiability of the system are no longer required. Moreover, the sliding mode method guarantees the finite-time convergence of the delay estimation. By comparing with the standard sliding mode method, the super-twisting algorithm reduces the chattering and provides better performances. Furthermore, the super-twisting algorithm based delay estimator is implemented on a real remote data transmission system and its performances are illustrated by experimental results.

This article deals with the practical online delay estimation of the remote control system by using an external signal. The external signal can be considered as a special communication loop of the remote control system, and it requires no information from the control system. The delay estimator is based on the adaptive super-twisting algorithm, it accurately estimates the time-varying delay with self-tuned parameters. Moreover, the proposed method also attenuates the effect of the channel inherent noise and deception attack via the network. Finally, this method is validated on a WiFi communication network, and some simulations are given to illustrate the performance and the robustness of the proposed method.