SIAM Journal on Control and Optimization
Stabilization of Nonlinear Uncertain Systems
Stabilization of Nonlinear Uncertain Systems
Time-delay systems: an overview of some recent advances and open problems
Automatica (Journal of IFAC)
Brief paper: Adaptive trajectory tracking despite unknown input delay and plant parameters
Automatica (Journal of IFAC)
Predictor-like feedback for actuator and sensor dynamics governed by diffusion PDEs
ACC'09 Proceedings of the 2009 conference on American Control Conference
Adaptive tracking controller for systems with unknown long delay and unknown parameters in the plant
ACC'09 Proceedings of the 2009 conference on American Control Conference
Compensating a string PDE in the actuation or sensing path of an unstable ODE
ACC'09 Proceedings of the 2009 conference on American Control Conference
Delay-adaptive full-state predictor feedback for systems with unknown long actuator delay
ACC'09 Proceedings of the 2009 conference on American Control Conference
Predictor-based control for an uncertain Euler-Lagrange system with input delay
Automatica (Journal of IFAC)
Brief paper: Adaptive robust stabilization of continuous casting
Automatica (Journal of IFAC)
Automatica (Journal of IFAC)
Discrete-time inverse optimal neural control for synchronous generators
Engineering Applications of Artificial Intelligence
Delay-robustness of linear predictor feedback without restriction on delay rate
Automatica (Journal of IFAC)
Robustness of nonlinear predictor feedback laws to time- and state-dependent delay perturbations
Automatica (Journal of IFAC)
Stabilization of nonlinear delay systems using approximate predictors and high-gain observers
Automatica (Journal of IFAC)
Hi-index | 22.16 |
We consider LTI finite-dimensional, completely controllable, but possibly open-loop unstable, plants, with arbitrarily long actuator delay, and the corresponding predictor-based feedback for delay compensation. We study the problem of inverse-optimal re-design of the predictor-based feedback law. We obtain a simple modification of the basic predictor-based controller, which employs a low-pass filter, and has been proposed previously by Mondie and Michiels for achieving robustness to discretization of the integral term in the predictor feedback law. The key element in our work is the employment of an infinite-dimensional ''backstepping'' transformation, and the resulting Lyapunov function, for the infinite dimensional systems consisting of the state of the ODE plant and the delay state. The Lyapunov function allows us to quantify the Lyapunov stability properties under the modified feedback, the inverse optimality of the feedback, and its disturbance attenuation properties. For the basic predictor feedback, the availability of the Lyapunov function also allows us to prove robustness to small delay mismatch (in both positive and negative directions).