Output Feedback Regulation of a Chain of Integrators With an Unbounded Time-Varying Delay in the Input

Koo, Min‐Sung; Choi, Ho‐Lim; Lim, Jong-Tae

doi:10.1109/tac.2012.2190207

Cited by 26 publications

(17 citation statements)

References 23 publications

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“…However, the developed control law in Karafyllis and Krstic 36 is a linear stabilizing feedback term without any model compensation or disturbance compensation, which might result in not good enough control performance especially when the system is subjected to large additive disturbances. Though excellent asymptotic stability results can be achieved by the output feedback control schemes proposed in Koo et al 37 and Jo et al 38 for feedforward nonlinear systems with input delay, rigorous assumptions have been made on the additive disturbances, and their applications to systems with model uncertainty in the control input channel are still not clear.…”

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

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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

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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

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“…For system (1) satisfying (2) with τ i2 = 0 and θ = 1, the output feedback stabilization problem has been considered in [23,24]. For system (1) satisfying (2), where N = f i (·) = 1, τ 11 = 0 and τ 12 is a time-varying functions, the output feedback regulation problem has been studied in [9]. However, since θ is an unknown positive constant and f i (·) are the inputs or delay inputs functions, system (1) satisfying Assumption 2.1 do not belong to the systems considered in the existing related literature.…”

Section: System Description and Preliminariesmentioning

confidence: 99%

“…In the last decade, the problem of global output feedback control of nonlinear systems with linear unmeasurable states multiplying by the various growth functions has received considerable attention and still remains as an active research topic (see e. g., [1,2,9,10,11,12,13,15,16,18,22,23,24,25,26]). For example, a time-varying output feedback controller has been proposed for the global regulation of nonlinear uncertain systems DOI: 10.14736/kyb-2015- with an unbounded time-varying delay in the input in [9].…”

Section: Introductionmentioning

confidence: 99%

“…For example, a time-varying output feedback controller has been proposed for the global regulation of nonlinear uncertain systems DOI: 10.14736/kyb-2015- with an unbounded time-varying delay in the input in [9]. Specifically, based on the Lyapunov-Krasovskii theorem, the output feedback controllers have been constructed to stabilize a class of large-scale nonlinear time-delay systems that are dominated by the upper or lower triangular time-delay systems in [24] and [25], respectively.…”

Section: Introductionmentioning

confidence: 99%

“…Motivated by [9,12,24,25], in this paper, we consider the problem of global adaptive regulation via output feedback for large-scale uncertain nonlinear systems with time delays in the states and inputs. To the best of our knowledge, there is no work dealing with such a class of large-scale systems satisfying Assumption 2.1 in the literature at present, see Remark 2.3.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Output feedback regulation for large-scale uncertain nonlinear systems with time delays

Liu¹,

Yu²,

Zhang³

2015

Kybernetika

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Global adaptive regulation of feedforward nonlinear time‐delay systems by output feedback

Jia

Cui

et al. 2016

Intl J Robust & Nonlinear

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SUMMARYThe problem of global adaptive state regulation is investigated via output feedback for uncertain feedforward nonlinear time-delay systems. Compared with existing results, our control schemes can be applicable to more general nonlinear time-delay systems because of combining the low-gain scaling approach with the backstepping method. In particular, we allow that there exist uncertain output function and uncertain growth rate imposed on nonlinear terms. Also, one considers a class of nonlinear systems with main-axis delay. By the Lyapunov-Krasovskii theorem, delay-independent controllers are proposed by constructing novel lowgain observers driven by system input, to regulate the states of original system while all the closed-loop signals are globally bounded. Furthermore, two examples are given to illustrate the usefulness of our results.

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Output Feedback Regulation of a Chain of Integrators With an Unbounded Time-Varying Delay in the Input

Cited by 26 publications

References 23 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

Output feedback regulation for large-scale uncertain nonlinear systems with time delays

Global adaptive regulation of feedforward nonlinear time‐delay systems by output feedback

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