A Simple Velocity-Free Controller for Attitude Regulation of a Spacecraft With Delayed Feedback

Ailon, Amit; Segev, Reuven; Arogeti, Shai

doi:10.1109/tac.2003.821406

Cited by 46 publications

(47 citation statements)

References 12 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…Unfortunately, very few literatures set foot in the output feedback control for disturbed nonlinear systems with input delay compensation. In Alion et al, 30 output feedback controllers were proposed to stabilize nonlinear systems with constant input delay by using the linearization method, which will cause some deviations from the realistic systems and may result in instability of the closed-loop system. Observer-based output feedback control were synthesized in Zha et al 31 and Jo et al 32 for a class of feedforward nonlinear systems with time-varying delay in the control input.…”

Section: Introductionmentioning

confidence: 99%

Time‐varying input delay compensation for nonlinear systems with additive disturbance: An output feedback approach

Deng

Yao

2017

Intl J Robust & Nonlinear

119

View full text Add to dashboard Cite

SummaryThis paper addresses the output feedback tracking control of a class of multipleinput and multiple-output nonlinear systems subject to time-varying input delay and additive bounded disturbances. Based on the backstepping design approach, an output feedback robust controller is proposed by integrating an extended state observer and a novel robust controller, which uses a desired trajectory-based feedforward term to achieve an improved model compensation and a robust delay compensation feedback term based on the finite integral of the past control values to compensate for the time-varying input delay. The extended state observer can simultaneously estimate the unmeasurable system states and the additive disturbances only with the output measurement and delayed control input. The proposed controller theoretically guarantees prescribed transient performance and steady-state tracking accuracy in spite of the presence of time-varying input delay and additive bounded disturbances based on Lyapunov stability analysis by using a LyapunovKrasovskii functional. A specific study on a 2-link robot manipulator is performed; based on the system model and the proposed design procedure, a suitable controller is developed, and comparative simulation results are obtained to demonstrate the effectiveness of the developed control scheme. | INTRODUCTIONTime delay that includes state delay and input delay is a pervasive phenomenon encountered in many practical engineering applications such as robotic systems, electrical networks, and hydraulic actuation systems. The existence of time delay may result in unexpected degradation in control performance and even instability. 1 Hence, how to effectively attenuate the effect of time delay has always been the research hotspot during the latest several decades, with numerous control schemes proposed, such as previous studies 2-12 for input delay and other studies [13][14][15][16][17][18] for state delay. Especially in Sun et al 17 and Sun and Liu, 18 stabilization of high-order uncertain nonlinear systems with state delays were investigated by using adaptive approach. 19,20 This paper focuses on the problem of input delay, ie, the time delay that occurs between the control input and the plant. Specifically, predictor-based techniques such as Artstein model reduction 2 and finite spectrum assignment, 3 which originate from classic Smith predictor method, 4 are typically exploited to compensate for the input delay. The core design in these predictor-based approaches is to transform the delayed system to a delay free one by using finite integrals over past control values. 21 In addition, many predictive controllers have also been synthesized based on the fact that the input delayed systems can be modeled as

show abstract

Section: Introductionmentioning

confidence: 99%

Time‐varying input delay compensation for nonlinear systems with additive disturbance: An output feedback approach

Deng

Yao

2017

Intl J Robust & Nonlinear

119

View full text Add to dashboard Cite

show abstract

“…In [43] and [44], a backstepping approach that utilizes ODE-PDE cascade transformation for input delayed systems is extended to nonlinear control systems with an actuator delay of unrestricted length. The results in [45]- [47] utilize controllers developed for delay-free systems and prove robustness to the delay provided certain delay dependent conditions hold true. Also, these results only establish local exponential or asymptotic stability for a zero/stationary solution of uncertain nonlinear systems (linearized about a setpoint).…”

mentioning

confidence: 97%

Predictor-Based Compensation for Electromechanical Delay During Neuromuscular Electrical Stimulation

Sharma

Gregory

Dixon

2011

IEEE Trans. Neural Syst. Rehabil. Eng.

View full text Add to dashboard Cite

Abstract-Electromechanical delay (EMD) is a biological artifact that arises due to a time lag between electrical excitation and tension development in a muscle. EMD is known to cause degraded performance and instability during neuromuscular electrical stimulation (NMES). Compensating for such input delay is complicated by the unknown nonlinear muscle force-length and muscle force-velocity relationships. This paper provides control development and a mathematical stability analysis of a NMES controller with a predictive term that actively accounts for EMD. The results are obtained through the development of a novel predictor-type method to address the delay in the voltage input to the muscle. Lyapunov-Krasovskii functionals are used within a Lyapunov-based stability analysis to prove semi-global uniformly ultimately bounded tracking. Experiments on able-bodied volunteers illustrate the performance and robustness of the developed controller during a leg extension trajectory following task.

show abstract

“…For example, in [1], the problem was addressed assuming known, constant and sufficiently small delays, using modified Rodrigues parameters to represent attitude. In [3], rotation matrices were used to describe attitude, and delays were also considered constant and known.…”

Section: Introductionmentioning

confidence: 99%

“…Using quaternion representation, [16] considered both attitude and angular velocity subjected to constant delays; stability conditions rely only on initial velocities and delay magnitude. In [17], angular velocity measurements are discarded, and stability conditions are derived with only attitude measurements, as in [1]. Sufficient conditions that simultaneously guarantee stability and H ∞ performance were given in [23], which also addressed time-varying delays.…”

Section: Introductionmentioning

confidence: 99%

Robust Controller Design for Attitude Dynamics Subjected to Time-Delayed State Measurements

Cavalcanti

Figueredo

Ishihara

2018

IEEE Trans. Automat. Contr.

View full text Add to dashboard Cite

A Simple Velocity-Free Controller for Attitude Regulation of a Spacecraft With Delayed Feedback

Cited by 46 publications

References 12 publications

Time‐varying input delay compensation for nonlinear systems with additive disturbance: An output feedback approach

Time‐varying input delay compensation for nonlinear systems with additive disturbance: An output feedback approach

Predictor-Based Compensation for Electromechanical Delay During Neuromuscular Electrical Stimulation

Robust Controller Design for Attitude Dynamics Subjected to Time-Delayed State Measurements

Contact Info

Product

Resources

About