Title :
Saturated delayed design for the chain of integrators via a transformation technique
Author :
Ye Huawen ; Li Zhiyu ; Gui Weihua ; Yang Chunhua
Author_Institution :
Sch. of Inf. Sci. & Eng., Central South Univ., Changsha, China
Abstract :
This paper revisits the saturated delayed design for the chain of integrators. Through a suitable coordinate transformation, the saturated delayed design problem reduces to the saturated control issue, and the arbitrarily large input delay can be compensated by tuning a parameter contained in the transformation. As an application, the inertia wheel pendulum, described by a chain of integrators subject to a high-order term, is given an explicit saturated delayed controller.
Keywords :
compensation; delays; nonlinear control systems; stability; transforms; chain-of-integrators; coordinate transformation technique; explicit saturated delayed controller; high-order term; inertia wheel pendulum; input delay compensation; saturated control issue; saturated delayed design problem; two-step stability analysis approach; Delays; Educational institutions; Linear systems; Nonlinear systems; Stability analysis; Tuning; Wheels; Saturated design; stabilization; the chain of integrators subject to an input delay; the inertia wheel pendulum;
Conference_Titel :
Intelligent Control and Automation (WCICA), 2014 11th World Congress on
DOI :
10.1109/WCICA.2014.7053468
