Stabilization of nonlinear delay systems using approximate predictors and high-gain observers

Authors:
Iasson Karafyllis;Miroslav Krstic
Affiliations:
-;-
Venue:
Automatica (Journal of IFAC)
Year:
2013

Citing 13
Cited 1

A theorem on global stabilization of nonlinear systems by linear feedback

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A new delay system approach to network-based control

Automatica (Journal of IFAC)
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Brief paper: Lyapunov tools for predictor feedbacks for delay systems: Inverse optimality and robustness to delay mismatch

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Recursive predictor design for state and output feedback controllers for linear time delay systems

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Stabilization by Means of Approximate Predictors for Systems with Delayed Input

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Brief Every stabilizing dead-time controller has an observer-predictor-based structure

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Technical Communique: Robust sampled-data stabilization of linear systems: an input delay approach

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A framework for nonlinear sampled-data observer design via approximate discrete-time models and emulation

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Robust prediction-based control for unstable delay systems: Application to the yaw control of a mini-helicopter

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Stabilization of nonlinear delay systems using approximate predictors and high-gain observers

Automatica (Journal of IFAC)

Stabilization of nonlinear delay systems using approximate predictors and high-gain observers

Automatica (Journal of IFAC)

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Abstract

We provide a solution to the heretofore open problem of stabilization of systems with arbitrarily long delays at the input and output of a nonlinear system using output feedback only. The solution is global, employs the predictor approach over the period that combines the input and output delays, addresses nonlinear systems with sampled measurements and with control applied using a zero-order hold, and requires that the sampling/holding periods be sufficiently short, though not necessarily constant. Our approach considers a class of globally Lipschitz strict-feedback systems with disturbances and employs an appropriately constructed successive approximation of the predictor map, a high-gain sampled-data observer, and a linear stabilizing feedback for the delay-free system. The obtained results guarantee robustness to perturbations of the sampling schedule and different sampling and holding periods are considered. The approach is specialized to linear systems, where the predictor is available explicitly.