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This work considers the problem of stabilization of first order linear systems subject to a relatively large input-output time delay. As it is known, the stability analysis of this type of systems becomes difficult due to the dead-time term involved. The proposed prediction scheme has a similar structure of a Smith predictor scheme together with a output injection compensation to guarantee predictor...
In this paper a new control methodology is proposed for unstable linear time-delay systems with recycle. For this kind of systems time delays are present in the forward and backward paths increasing control difficulty. The strategy is based on the observation that if some internal system signals were known then it would be possible to remove the backward dynamics. In this way, a controller feedback...
The successful operation of Networked Control Systems (NCS) requires employing appropriate approaches for dealing with network induced time delays, i.e. time intervals elapsed from consecutive sampling and actuation operations. Effective approaches often require to impose periodic execution for the sampling and/or actuation operations, enforcing synchronized constant time delays. And considering that...
This article describes the design of a linear observer-linear controller-based robust output feedback scheme for output reference trajectory tracking tasks in an input delayed omnidirectional mobile robot. The unknown, possibly state-dependent, additive nonlinearity influencing the tracking error dynamics, is modeled as an absolutely uniformly bounded, additive unknown “time-varying disturbance” input...
This paper consider the remote control of an unicycle mobile robot subject to transport delay. The communication delay effects are considered by means of a discrete time approach that allows to solve the path tracking problem in terms of the delayed input. The causality problem involved in the proposed solution is carried out by considering an extension to the nonlinear case of the well known Smith...
Varying time delays prevent successful operation of control loops closed over communication networks, i.e. networked control system (NCS). To mitigate the negative effects of delays, existing research mainly focuses on deriving control approaches/solutions built upon the assumption that the operation of control loops is synchronized at the sampling instants. In this paper we propose an approach to...
In the present paper we deal with the approximate disturbance decoupling problem with measurement (DDPM) for a class of nonlinear systems with a simple time delay at the input. The analysis is based on a standard singularly perturbed form free of delay which is an approximation of the original system.
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