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The implementation of Model Predictive Control (MPC) requires to solve an optimization problem online. The computation time, often not negligible especially for Nonlinear MPC (NMPC), introduces a delay in the feedback loop. Moreover, it impedes fast sampling rate setting for the controller to react to uncertainties quickly. In this paper, a dual time scale control scheme is proposed for linear/nonlinear...
This paper examines control of a general class of uncertain nonlinear Euler-Lagrange systems with time-varying input delay and additive bounded disturbances. A Lyapunov-based stability analysis utilizing Lyapunov-Krasovskii functionals is provided to prove semi-global uniformly ultimately bounded tracking. Simulation results demonstrate the robustness of the control design with respect to the delay.
This paper focuses on the problem of robust control for Takagi-Sugeno (T-S) fuzzy systems with time-delay. The less conservative conditions are developed by considering a parameter dependent Lyapunov-Krasovskii functional and slack matrix variables. The design conditions are formulated as an LMI (linear matrix inequality) feasibility problem, that can be efficiently solved using convex optimization...
This paper presents the method of discrete-time sliding mode control (DT-SMC) for a class of nonlinear time-delay systems via Takagi-Sugeno (T-S) fuzzy model. First, the discrete-time linear model with uncertainties and tine-varying delay is derived by employing T-S model to represent original system. Then the control problem becomes the robust stabilization controller design for linear uncertain...
In systems with deterministic and constant delay Smith predictor offers a very efficient method for compensating dead-time. However, it is vulnerable to model uncertainties and parameter changes, in particular to delay variations. In this paper, we provide an alternative solution for compensating dead-time in systems with uncertain and time-varying delay. Two compensator structures are proposed -...
This paper deals with stability analysis and control designs for a class of delay-dependent nonlinear systems with input constraint when using the T-S fuzzy model in consideration of the uncertainties in the system. As a result, it arrives at two kinds of feedback controllers in terms of the LMIs, in which the latter tries to use less information about the delay. In order to make the LMIs less conservative,...
In this paper, operator based robust nonlinear control for nonlinear plants with time-delays is considered by using robust right coprime factorization approach. That is, based on internal model control (IMC) and a delay compensating method, operator based nonlinear control systems are designed, and sufficient conditions for the designed feedback control systems are obtained. Based on the conditions,...
This paper deals with the problem of delay-dependent exponential stability in the mean square for a class of uncertain stochastic systems with time-varying delay and nonlinearities. By using Lyapunov-Krosovskii functional method combined with linear matrix inequalities (LMIs) techniques, some new delay-dependent stability criteria in terms of LMIs are derived by introducing some free weighting matrices...
Based on an integral inequality, a stability criterion for uncertain stochastic delay systems with nonlinear uncertainties is obtained in terms of a linear matrix inequality. The restriction used to bound some trace term in the existing methods is removed. The advantage of the proposed method is verified by a numerical example.
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