Robustness of a discrete-time predictor-based controller for time-varying measurement delay
A predictor-based controller for time-varying delay systems is presented in this paper and its robustness properties for different uncertainties are analyzed. First, a time-varying delay dependent stability condition is expressed in terms of LMIs. Then, uncertainties in the knowledge of all plant-mo...
| Authors: | , , , , |
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| Format: | article |
| Publication Date: | 2012 |
| Country: | España |
| Institution: | Universitat Politècnica de València (UPV) |
| Repository: | RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia |
| Language: | English |
| OAI Identifier: | oai:riunet.upv.es:10251/33923 |
| Online Access: | https://riunet.upv.es/handle/10251/33923 |
| Access Level: | Open access |
| Keyword: | Digital implementation Discrete-predictor Linear matrix inequality (LMI) Robust stability Time-varying delay Controllers Helicopter rotors Linear matrix inequalities Robustness (control systems) Uncertainty analysis Time varying control systems INGENIERIA DE SISTEMAS Y AUTOMATICA |
| Summary: | A predictor-based controller for time-varying delay systems is presented in this paper and its robustness properties for different uncertainties are analyzed. First, a time-varying delay dependent stability condition is expressed in terms of LMIs. Then, uncertainties in the knowledge of all plant-model parameters are considered and the resulting closed-loop system is shown to be robust with respect to these uncertainties. A significant improvement with respect to the same control strategy without predictor is achieved. The scheme is applicable to open-loop unstable plants and it has been tested in a real-time application to control the roll angle of a quad-rotor helicopter prototype. The experimental results show good performance and robustness of the proposed scheme even in the presence of long delay uncertainties. © 2011 Elsevier Ltd. |
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