Title :
A new approach to robust stability analysis of uncertain time-delay systems
Author :
Zhan, Xisheng ; Li, Shuchen ; Zhai, Chunyan ; Wu, Jie ; Ma, Jing
Author_Institution :
Sch. of Inf. Eng., Liaoning Univ. of Pet. & Chem. Technol., Fushun
Abstract :
A design method of robust iterative learning controller is proposed for time-varying systems with uncertain time-delay. The controller is obtained by resolving Riccati equation. In addition, the necessary and sufficient conditions of convergence are derived by Lyapunov theory. The proposed controller has lower order and can be more easily realized than robust controller. The scheme proposed guarantees that the tracking error converges to a pre-specified error bound after finite iterations. Cite a two-link planar robot as an example. The simulation result shows the effectiveness and feasibility of the proposed method
Keywords :
Lyapunov methods; Riccati equations; iterative methods; robust control; time-varying systems; uncertain systems; Lyapunov theory; Riccati equation; finite iterations; iterative learning controller; robust stability analysis; time-varying systems; tracking error; two-link planar robot; uncertain time-delay systems; Control systems; Convergence; Design methodology; Iterative methods; Riccati equations; Robots; Robust control; Robust stability; Sufficient conditions; Time varying systems;
Conference_Titel :
Systems and Control in Aerospace and Astronautics, 2006. ISSCAA 2006. 1st International Symposium on
Conference_Location :
Harbin
Print_ISBN :
0-7803-9395-3
DOI :
10.1109/ISSCAA.2006.1627679
