Robust predictive extended state observer for a class of nonlinear systems with time-varying input delay
Abstract:
This paper deals with asymptotic stabilisation of a class of nonlinear input-delayed systems via dynamic output feedback in the presence of disturbances. The proposed strategy has the structure of an observer-based control law, in which the observer estimates and predicts both the plant state and the external disturbance. A nominal delay value is assumed to be known and stability conditions in terms of linear matrix inequalities are derived for fast-varying delay uncertainties. Asymptotic stability is achieved if the disturbance or the time delay is constant. The controller design problem is also addressed and a numerical example with an unstable system is provided to illustrate the usefulness of the proposed strategy.
Año de publicación:
2020
Keywords:
- Robust control
- Time-varying delay
- Nonlinear systems
- linear matrix inequality
- output feedback
Fuente:

Tipo de documento:
Article
Estado:
Acceso restringido
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