Predictor-based stabilization for chained form systems with input time delay

Research output: Contribution to journalArticle

Abstract

This note addresses the stabilization problem of nonlinear chained-form systems with input time delay. We first employ the so-called σ-process transformation that renders the feedback system under a linear form. We introduce a particular transformation to convert the original system into a delay-free system. Finally, we apply a state feedback control, which guarantees a quasi-exponential stabilization to all the system states, which in turn converge exponentially to zero. Then we employ the so-called -type control to achieve a quasi-exponential stabilization of the subsequent system. A simulation example illustrated on the model of a wheeled mobile robot is provided to demonstrate the effectiveness of the proposed approach.

Original languageEnglish
Pages (from-to)515-525
Number of pages11
JournalArchives of Control Sciences
Volume26
Issue number4
DOIs
Publication statusPublished - Dec 1 2016

Fingerprint

Input Delay
Predictors
Time Delay
Time delay
Stabilization
Exponential Stabilization
State feedback
Mobile robots
Feedback control
State Feedback Control
Linear Forms
Feedback
Feedback Systems
Mobile Robot
Convert
Form
Converge
Zero
Demonstrate
Simulation

Keywords

  • Chained form systems
  • Exponential stabilization
  • Mobile robots
  • Time delay system
  • σ-process transformation

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Control and Optimization

Cite this

Predictor-based stabilization for chained form systems with input time delay. / Mnif, Fäiçal.

In: Archives of Control Sciences, Vol. 26, No. 4, 01.12.2016, p. 515-525.

Research output: Contribution to journalArticle

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