Predictor-based control of time-delay systems: a survey

Deng, Yang; Léchappé, Vincent; Moulay, Emmanuel; Chen, Zhang; Liang, Bin; Plestan, Franck; Han, Qing‐Long

doi:10.1080/00207721.2022.2056654

Cited by 27 publications

(11 citation statements)

References 250 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…There are many solutions for control in systems with delay [26][27][28][29][30]. One of the most common solutions is the Smith Predictor [28].…”

Section: Introductionmentioning

confidence: 99%

“…There are many solutions for control in systems with delay [26][27][28][29][30]. One of the most common solutions is the Smith Predictor [28]. However, we want to solve the problem in a simplified way-to design an MISO PBC controller for the system without delay in the measurement traces and implement it in the system with delays using the prediction of the measured state variables.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Improving Low-Frequency Digital Control in the Voltage Source Inverter for the UPS System

Rymarski

2024

Electronics

View full text Add to dashboard Cite

Today voltage source inverters (VSIs) operate with high switching frequencies (let us assume higher than 50 kHz) owing to the fast Si (Silicon) or SiC (Silicon Carbide) switching transistors. However, there are some applications, e.g., with slower switches (e.g., IGBT—Isolated Gate Bipolar Transistor) or when lower dynamic power losses are required when the switching frequency is low (let us assume about 10 kHz). The resonant frequency of the output filter is usually below 1 kHz. The measurements of Bode plots of the measurement traces of various microprocessor-controlled VSIs show that in this frequency range, the characteristics of these channels can be simply approximated through two or three switching periods delay. For the high switching frequency, it is not noticeable, but for the low frequency it can cause some oscillations in the output voltage. One of the solutions can be to use the predictor of the measured state variables based on the full-state Luenberger observer or the linear Kalman filter. Both solutions will be simulated in MATLAB/Simulink and the chosen one will be tested in the experimental VSI. The research aims to omit delays in the measurement channels for the low switching frequency by using the predictions for the measured state variables and finally increasing the gains of the controller to decrease the output voltage distortions.

show abstract

“…There are many solutions for control in systems with delay [26][27][28][29][30]. One of the most common solutions is the Smith Predictor [28].…”

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Improving Low-Frequency Digital Control in the Voltage Source Inverter for the UPS System

Rymarski

2024

Electronics

View full text Add to dashboard Cite

show abstract

“…For the Lyapunov-Krasovskii based robust controller design, the upper bound of the delay needs to be given in advance. 12 To avoid this constraint condition and be able to handle time-varying delays, on-line estimation of time delay is further explored. An algebraic approach to estimate delays was proposed in Reference 13.…”

Section: Introductionmentioning

confidence: 99%

Robust lateral motion control of distributed drive vehicle considering long input delays

Xie

et al. 2022

Intl J Robust & Nonlinear

View full text Add to dashboard Cite

This article presents a comparative study of lateral motion controller design for distributed drive vehicle. Aiming at handling long input delays, two types of robust controllers are specifically investigated. First, a Lyapunov-Krasovskii functional based robust controller design is proposed. Considering input delay, the design conditions of the state-feedback controller are derived in terms of linear matrix inequalities (LMIs), which can be effectively solved using LMI toolbox. Second, based on the same control law, a robust predictive controller design is further presented. However, different from the Lyapunov-Krasovskii functional based robust controller, the control gain of the proposed robust predictive controller is calculated without considering the input delay. An input delay estimator and a predictor are developed instead to reconstruct the delay-dependent state, which is further used to generate a new feedback error. Moreover, the feasibility of this control scheme is theoretically proved. Finally, extensive co-simulations with Carsim and Matlab/Simulink are conducted to compare the performance between these two controllers. Compared with the Lyapunov-Krasovskii functional based robust controller, longer input delay can be handled by using the proposed robust predictive controller.

show abstract

“…Several studies on mobile robotics have been reported the literature. One of the most important approaches is related to prediction-based controls; an interesting survey was pre-sented in [23]. For instance, considering delayed measurements, [24,25] provides a solution for the kinematic model, and [26] uses a simplified dynamic model.…”

mentioning

confidence: 99%

“…Furthermore, because origin e wj = [0 0 0] T is the only equilibrium point, system (23) is globally asymptotically stable.…”

mentioning

confidence: 99%

Non-Linear Prediction-Based Trajectory Tracking for Non-Holonomic Mobile Robots

Báez-Hernández,

Velasco-Villa,

Mondié

2023

IEEE Access

View full text Add to dashboard Cite

This work addresses the trajectory tracking problem for a non-holonomic differential drive mobile robot with a constant time delay h at the input signal. To compensate for the adverse effects of the input time delay on the vehicle, a non-linear prediction-observer scheme based on a sub-prediction strategy that asymptotically estimates the future values of the state, h units of time ahead was introduced, and, thanks to the characteristics of the system, a condition which depends only on the gains of the predictor-observer is obtained for the convergence of the predicted states. Non-linear feedback based on the estimated future state is proposed to tackle the trajectory tracking problem of a mobile robot. The closed-loop system describing the prediction strategy and trajectory tracking solution was formally analyzed, showing the asymptotic convergence of the prediction and tracking errors to the origin. Numerical and real-time experiments were performed to evaluate the prediction-based control scheme, which show adequate performance.INDEX TERMS Non-holonomic mobile robot, non-linear prediction, time delays, trajectory tracking.

show abstract

Predictor-based control of time-delay systems: a survey

Cited by 27 publications

References 250 publications

Improving Low-Frequency Digital Control in the Voltage Source Inverter for the UPS System

Improving Low-Frequency Digital Control in the Voltage Source Inverter for the UPS System

Robust lateral motion control of distributed drive vehicle considering long input delays

Non-Linear Prediction-Based Trajectory Tracking for Non-Holonomic Mobile Robots

Contact Info

Product

Resources

About