Predictor control for multi‐input non‐linear systems with time‐ and state‐dependent input delays-Reference-Cited by-同舟云学术

Predictor control for multi‐input non‐linear systems with time‐ and state‐dependent input delays

Published:2017-02 Issue:4 Volume:11 Page:495-503
ISSN:1751-8644
Container-title:IET Control Theory & Applications
language:en
Short-container-title:IET Control Theory & Appl

Author:

Cai Xiushan¹,Liao Linling¹,Zhang Junfeng²,Liu Yanhong³

Affiliation:

1. College of Mathematics, Physics, and Information Engineering, Zhejiang Normal University Jinhua 321004 People's Republic of China

2. Institute of Information and Control, Hangzhou Dianzi University Hangzhou 310018 People's Republic of China

3. School of Electrical Engineering, Zhengzhou University Zhengzhou 450001 People's Republic of China

Abstract

Predictor control for a class of multi‐input non‐linear systems with time‐ and state‐dependent input delays is considered. First, a delay‐free control law is given for the original system in the absence of delays based on the control Lyapunov function. Second, sufficient conditions are obtained and a predictor control for the original system is presented. Stability analysis is done by a Lyapunov functional. Due to the delay dependent on time and state, a region of attraction is estimated. Further, the stabilisation formula is optimal with respect to a meaningful cost functional. The proposed design is illustrated by a mobile robot with input delay.

Funder

National Natural Science Foundation of China

Natural Science Foundation of Zhejiang Province

Publisher

Institution of Engineering and Technology (IET)

Link

https://onlinelibrary.wiley.com/doi/pdf/10.1049/iet-cta.2016.0515

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