Title :
Nonlinear control under input delays that depend on delayed states
Author :
Bekiaris-Liberis, Nikolaos ; Krstic, Miroslav
Author_Institution :
Dept. of Mech. & Aerosp. Eng., Univ. of California, San Diego, La Jolla, CA, USA
Abstract :
We recently introduced a design methodology for the stabilization of nonlinear systems with input delays that depend on the current state of the plant. In the present paper we consider nonlinear systems with delays that depend on the delayed state of the plant, that is, the delay is defined implicitly as a nonlinear function of the state at a past time which depends on the delay itself. Since the prediction horizon and the delay depend on the state of the plant, the key design challenges are how to compute the predictor state and the delay (since the delay needs to be available in order to compute the predictor). We resolve these challenges and we establish closed-loop stability with the aid of a strict Lyapunov functional that we construct. We present an example of a strict-feedforward nonlinear system with input delay.
Keywords :
Lyapunov methods; closed loop systems; control system synthesis; delays; nonlinear control systems; nonlinear functions; stability; Lyapunov functional; closed-loop stability; delayed states; design methodology; input delays; nonlinear control system; nonlinear function; prediction horizon; predictor state; stabilization; strict-feedforward nonlinear system; Backstepping; Closed loop systems; Control design; Delays; History; Nonlinear systems; Stability analysis;
Conference_Titel :
Decision and Control (CDC), 2013 IEEE 52nd Annual Conference on
Conference_Location :
Firenze
Print_ISBN :
978-1-4673-5714-2
DOI :
10.1109/CDC.2013.6760028