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The present work proposes a cascade predictor for a class of uncertain nonlinear systems in the presence of uncertainties in the state equations. The delayed state is assumed to be available with an arbitrarily long delay and the underlying measurements are assumed to be corrupted by an additive bounded unknown function. The proposed predictor is constituted by a cascade of subsystems where each of...
Previous efforts in bilateral time-delay teleoperation have mainly yielded control algorithms that sacrifice performance in order to guarantee robust stability. This paper proposes a provably stable adaptive predictive controller for teleoperation systems with communication delay. The method uses the model and delay information and can adapt to uncertainties in user and environment dynamics in order...
This paper considers the development of sliding-mode-based output-feedback controllers for uncertain systems which are subject to time-varying state delays. A novel method is proposed for design of the switching surface. This method is based on the descriptor approach and leads to a solution in terms of linear matrix inequalities (LMIs). When compared to existing methods (even for systems without...
The state observer and robust control for uncertain systems with time-varying state delay is studied. A sufficient condition is given for the existence of the state observer and the observer-based robust controller for such uncertain system is also designed. The detail design procedures are presented by solving linear matrix inequalities (LMIs). At last, an illustrative numerical example is presented,...
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