In this article, the tracking control problem for a class of nonlinear time-delay systems is investigated. In particular, a new methodology for the design and the digital implementation of observer-based tracking cont...
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In this article, the tracking control problem for a class of nonlinear time-delay systems is investigated. In particular, a new methodology for the design and the digital implementation of observer-based tracking controllers is provided for a class of control-affine nonlinear systems with state delays. First, a procedure for the design of continuous-time observer-based tracking controllers ensuring the global asymptotic stability of the corresponding closed-loop tracking error system is provided for the considered class of systems. Then, sufficient conditions are provided for the existence of a suitably fast sampling and of an accurate quantization of the input/output channels such that the digital implementation of the proposed continuous-time observer-based tracking controller ensures the semi-global practical stability property of the related sampled-dataquantized closed-loop tracking error system, with arbitrarily small final target ball of the origin. Moreover, it is shown that, in the special case of delay-free nonlinear systems, the sufficient conditions provided for the digital implementation of the proposed continuous-time observer-based tracking controller can be strongly relaxed. In the theory here developed, time-varying sampling periods and nonuniform quantization of the input/output channels are taken into account. The proposed results are validated through examples concerning a class of neural networks systems and a class of time-delay systems including, as a special case, a delay-free actuated inverted pendulum.
In this paper, the stabilization problem of nonlinear time-delay systems via quantizedsampled-data event-based controllers is investigated. Fully nonlinear (i.e., possibly non-affine in the control) systems affected ...
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ISBN:
(纸本)9781713872344
In this paper, the stabilization problem of nonlinear time-delay systems via quantizedsampled-data event-based controllers is investigated. Fully nonlinear (i.e., possibly non-affine in the control) systems affected by state delays are studied. Sufficient conditions are provided for the existence of a suitably fast sampling and of an accurate quantization of the input/output channels such that the digital implementation of the continuous-time controller at hand, updated through a proposed event-triggered mechanism, ensures the semi-global practical stability property, with arbitrarily small final target ball of the origin, of the related closed-loop system. A spline approximation methodology is used in order to cope with the problem of the possible non-availability in the buffer of suitable past values of the system variables needed for the digital implementation of the controller. The stabilization in the sample-and-hold sense theory is used as a tool to prove the results. In the theory here developed, the case of non-uniform quantization of the input/output channels and the case of aperiodic sampling are both included. The proposed theoretical results are validated through an application concerning the plasma glucose regulation problem in type-2 diabetic patients.
In this paper, the robust stabilization problem by means of quantizedsampled-data event-based (QSE) controllers is investigated for nonlinear systems affected by state delays and unknown disturbances. In particular, ...
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In this paper, the robust stabilization problem by means of quantizedsampled-data event-based (QSE) controllers is investigated for nonlinear systems affected by state delays and unknown disturbances. In particular, a methodology for the design of robust QSE stabilizers is provided for control-affine nonlinear systems affected by unknown actuation disturbances and unknown measurement errors. Firstly, the notion of Steepest Descent Feedback (SDF), continuous or not, is suitably revised in order to deal with the robustification of event-based controllers. Then, Input-to-State Stability (ISS) redesign methodologies are used to provide the robustification term which is added to the SDF at hand in order to arbitrarily attenuate the effects of unknown external disturbances affecting the considered control scheme. A spline approximation approach is used in order to cope with the problem of the possible non-availability in the buffer of suitable past values of the system state required for the correct application of the proposed robust QSE controller. It is proved that there exist a suitably fast sampling and an accurate quantization of the input/output channels such that: the robust QSE implementation of SDFs, continuous or not, ensures the semi-global practical stability of the related closed-loop system, regardless of the above disturbances, provided that the observation errors affects marginally the new added control term. The stabilization in the sample-and-hold sense theory is used as a tool to prove the results. The provided results include the case of non-uniform quantization of the input/output channels and the case of aperiodic sampling. Applications are presented in order to validate the results.
In this paper, the stabilization problem of nonlinear time-delay systems via quantizedsampled-data event-based controllers is investigated. Fully nonlinear (i.e., possibly non-affine in the control) systems affected ...
详细信息
In this paper, the stabilization problem of nonlinear time-delay systems via quantizedsampled-data event-based controllers is investigated. Fully nonlinear (i.e., possibly non-affine in the control) systems affected by state delays are studied. Sufficient conditions are provided for the existence of a suitably fast sampling and of an accurate quantization of the input/output channels such that the digital implementation of the continuous-time controller at hand, updated through a proposed event-triggered mechanism, ensures the semi-global practical stability property, with arbitrarily small final target ball of the origin, of the related closed-loop system. A spline approximation methodology is used in order to cope with the problem of the possible non-availability in the buffer of suitable past values of the system variables needed for the digital implementation of the controller. The stabilization in the sample-and-hold sense theory is used as a tool to prove the results. In the theory here developed, the case of non-uniform quantization of the input/output channels and the case of aperiodic sampling are both included. The proposed theoretical results are validated through an application concerning the plasma glucose regulation problem in type-2 diabetic patients.
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