Stability of Time-Delay Systems
Stability of Time-Delay Systems
Automatica (Journal of IFAC)
Brief paper: Synchronization of bilateral teleoperators with time delay
Automatica (Journal of IFAC)
Brief paper: Adaptive trajectory tracking despite unknown input delay and plant parameters
Automatica (Journal of IFAC)
Optimal Vibration Control for Offshore Structures Subjected to Wave Loading with Input Delay
ICMTMA '09 Proceedings of the 2009 International Conference on Measuring Technology and Mechatronics Automation - Volume 02
Delay-adaptive full-state predictor feedback for systems with unknown long actuator delay
ACC'09 Proceedings of the 2009 conference on American Control Conference
Adaptive posicast controller for time-delay systems with relative degree n*≤2
Automatica (Journal of IFAC)
Continuous pole placement for delay equations
Automatica (Journal of IFAC)
Time-delay systems: an overview of some recent advances and open problems
Automatica (Journal of IFAC)
Brief Obtaining controller parameters for a new Smith predictor using autotuning
Automatica (Journal of IFAC)
Brief Tracking trajectories of the cart-pendulum system
Automatica (Journal of IFAC)
Automatica (Journal of IFAC)
Neural-network predictive control for nonlinear dynamic systems with time-delay
IEEE Transactions on Neural Networks
Saturated control of an uncertain nonlinear system with input delay
Automatica (Journal of IFAC)
Hi-index | 22.15 |
Controlling a nonlinear system with actuator delay is a challenging problem because of the need to develop some form of prediction of the nonlinear dynamics. Developing a predictor-based controller for an uncertain system is especially challenging. In this paper, tracking controllers are developed for an Euler-Lagrange system with time-delayed actuation, parametric uncertainty, and additive bounded disturbances. The developed controllers represent the first input delayed controllers developed for uncertain nonlinear systems that use a predictor to compensate for the delay. The results are obtained through the development of a novel predictor-like method to address the time delay in the control input. Lyapunov-Krasovskii functionals are used within a Lyapunov-based stability analysis to prove semi-globally uniformly ultimately bounded tracking. Experimental results illustrate the performance and robustness of the developed control methods.