Robust predictive extended state observer for a class of nonlinear systems with time-varying input delay

Sanz, Ricardo; Garcia, Pedro Castillo; Fridman, Emilia; Albertos, Pedro

doi:10.1080/00207179.2018.1562204

Cited by 19 publications

(10 citation statements)

References 31 publications

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“…Next, an extended-state predictive observer similar to (50) was proposed in (Sanz, García, Fridman, & Albertos, 2017;Sanz, Garcia, Fridman, & Albertos, 2018) to solve the control problems of nonlinear systems under time-varying input delays. In (Sanz, García, Fridman, & Albertos, 2020), the sequential version of (Sanz, García, et al, 2017) was combined with a disturbance compensation strategy in order to reduce the conservatism and improve the robustness simultaneously.…”

Section: Observation-predictor-based Control Of Systems With Time Delaysmentioning

confidence: 99%

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

Deng

Léchappé

Moulay

et al. 2022

International Journal of Systems Science

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With the developments of wireless data communication and network technology, time-delays are widely found in nowadays' control systems, e.g. networked control systems, mobile robot systems, and multiagent systems. Predictor-based control is an effective method dealing with long time-delays because it can generally lead to a delay-free closed-loop system by introducing a prediction for future states. Recently, various predictor-based control methods have been developed for numerous control systems subject to different time-delays, which motivates this survey. This paper presents a comprehensive review of the up-to-date results on the predictor-based control of time-delay systems. Firstly, the ordinary differential equation-based approaches for designing and analysing predictor-based controllers are summarised. Secondly, one reports an alternative method of predictor-based control, in which the systems/controllers are understood in the sense of partial differential equations. Next, several integration-free predictor-based controllers are introduced: by abandoning the infinite-dimensional integral terms, the control laws become easier to realise in practice. Hereafter, the paper discusses the real-time implementations and the practical applications of predictor-based control methods to several particular control systems. Finally, this paper suggests some new trends of predictor-based control for future research.

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Section: Observation-predictor-based Control Of Systems With Time Delaysmentioning

confidence: 99%

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

Deng

Léchappé

Moulay

et al. 2022

International Journal of Systems Science

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“…subject to ( 23), ( 24), (25), ℙ ≺ 𝜆I (d M +1)×n (31) with 𝜅 1 and 𝜅 2 tuning weighting on 𝜆 and 𝜇. The length of the semi-minor axis can then be computed by 𝜔 b = 𝜆 −1∕2 max , where 𝜆 max is the maximum eigenvalue of the matrix ℙ𝜇 −1 .…”

Section: Maximisation Of the Plant Initial Conditions Setmentioning

confidence: 99%

“…Nonetheless, due to the growing importance of Networked Control Systems (NCSs) [21][22][23], the problem of time-varying delays started to gain more importance in the recent years when compared to the case of constant delays (even if the constant delay is uncertain). To cite a few works, the stability of structures for the control of time-varying delay systems has recently been studied along the problems of linear timevarying (LTV) processes [24], non-linear systems [25], nonminimum phase systems [26], and mismatched disturbances [27]. In this case, the traditional DTC will no longer be able to provide perfect compensation of the delay, that is, will not be able to eliminate the delay from the feedback loop, which is its main characteristic.…”

Section: Introductionmentioning

confidence: 99%

Analysis and experimental application of a dead‐time compensator for input saturated processes with output time‐varying delays

Lima

Tarbouriech

Gouaisbaut

et al. 2021

IET Control Theory & Appl

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Dead-time compensators (DTCs) are a family of classical controllers derived from the Smith Predictor. Their main characteristic is that they explicitly employ the model of the open-loop process to feedback a predicted value of the non-delayed system, thus obtaining compensation of the delay. Such a perfect compensation is not achievable in the case of time-varying delays. This paper addresses stability analysis of a DTC structure in this situation, in addition to considering saturating actuators and disturbances of limited energy. Specific challenges related to the DTC closed loop are taken into account in the developed theoretical conditions, which are expressed in terms of linear matrix inequalities by using an adequate Lyapunov-Krasovskii functional and generalised sector conditions. Furthermore, a new approach for the definition of the set of initial conditions in an augmented space in conjunction with the Lyapunov-Krasovskii functional is presented. Besides theoretical innovations, practical discussion about the relation between the tuning of DTC controllers and robustness for this class of systems is presented through numerical examples. An experimental application on a neonatal incubator prototype is carried out to emphasise the effectiveness of the results.This is an open access article under the terms of the Creative Commons Attribution License, which permits use, distribution and reproduction in any medium, provided the original work is properly cited.

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“…According to the three stages of the E-H mode switching process, the expressions of the initial target torque of each power sources shown in eq. (22)(23)(24)(25)(26)(27)(28)(29)(30) are derived.…”

Section: The Coordinated Control Strategy Based On Ilesomentioning

confidence: 99%

“…Most of the anti-interference methods mentioned above accurately estimate the system interference by designing an observer, and then achieve the effect of interference suppression through appropriate compensation control, thereby achieving excellent robust stability of the entire closed-loop system. The extended state observer (ESO) [27] is a commonly used tool for estimating interference and parameter uncertainty. Yao and Deng [28] designed a TLESO with a maximum observer gain of 42875, which makes it relatively sensitive to noise, and is prone to slow convergence and low accuracy.…”

Section: Introductionmentioning

confidence: 99%

Mode Transition Control of a Power-Split Hybrid Electric Vehicle Based on Improved Extended State Observer

et al. 2020

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In order to improve the mode switching stability of a power-split hybrid electric vehicle (HEV), a torque coordinated control strategy based on disturbance observation and compensation is proposed. Aiming at the problem of engine torque disturbances caused by engine modeling error, torque control error, working environment interference and other factors, and vehicle load torque interference caused by changes in vehicle driving conditions, an improved linear extended state observer (ILESO) is designed at first. According to the deviation control principle, the state variable regulation mechanism using the same error term in the traditional linear extended state observer (TLESO) is revised, and improved by adding the corresponding deviation between the state variable and its observed value separately. Then the Lyapunov stability of the error system for the ILESO is proved gradually. On this basis, a torque redistribution algorithm of two motors based on disturbances compensation is put forward. After that, simulation verification and road adaptability analysis are carried out subsequently. The results show that the coordinated control strategy based on ILESO, compared with the TLESO, has higher observation accuracy, and makes the HEV have better vehicle speed tracking stability and mode switching smoothness when the vehicle is subject to the same external disturbance, as well as excellent adaptability under a wide range of road conditions.

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Robust predictive extended state observer for a class of nonlinear systems with time-varying input delay

Cited by 19 publications

References 31 publications

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

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

Analysis and experimental application of a dead‐time compensator for input saturated processes with output time‐varying delays

Mode Transition Control of a Power-Split Hybrid Electric Vehicle Based on Improved Extended State Observer

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