DocumentCode :
2165415
Title :
A nonlinear state feedback design for nonlinear systems with input delay
Author :
Georges, D. ; Besancon, G. ; Benayache, Z. ; Witrant, E.
Author_Institution :
Control Syst. Dept., GIPSA-Lab., St. Martin d´Hères, France
fYear :
2007
fDate :
2-5 July 2007
Firstpage :
915
Lastpage :
921
Abstract :
This paper is devoted to the design of a nonlinear feedback law based on state prediction for nonlinear systems with input time-delay. We successively consider the case of known constant time-delay and the case of time-varying delay in the input. In the case of constant delays and as in the linear case (under the finite-spectrum assignment assumption), a nonlinear distributed-delay control law is obtained. Since the computation of delay-distributed control laws remain a difficult problem as in the linear case, we discuss a control law approximation which is derived by using both a state prediction approximation and the “dynamic inversion” of a fixed point problem. In the case of time-varying delays, we extend the approach proposed in [9] by using a control law similar to the linear case one, together with dynamic inversion of a fixed point problem. Finally two illustrative examples are provided that demonstrate the effectiveness of the approach.
Keywords :
control system synthesis; delays; distributed control; inverse problems; nonlinear systems; state estimation; state feedback; time-varying systems; constant time-delay; control law approximation; dynamic inversion; finite-spectrum assignment assumption; fixed point problem; input time-delay; nonlinear distributed-delay control law; nonlinear feedback law design; nonlinear state feedback design; nonlinear systems; state prediction approximation; time-varying delay; Approximation methods; Asymptotic stability; Closed loop systems; Delays; Nonlinear systems; Numerical stability; State feedback; Nonlinear control; nonlinear time-delay systems; state feedback; state predictor;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control Conference (ECC), 2007 European
Conference_Location :
Kos
Print_ISBN :
978-3-9524173-8-6
Type :
conf
Filename :
7068713
Link To Document :
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