Related papers: Numerical Predictive Control for Delay Compensatio…
Control of systems where the information between the controller, actuator, and sensor can be lost or delayed can be challenging with respect to stability and performance. One way to overcome the resulting problems is the use of prediction…
Networked Predictive Control is widely used to mitigate the effect of delays and dropouts in Networked Control Systems, particularly when these exceed the sampling time. A key design choice of these methods is the delay bound, which…
We consider state-feedback predictor-based control of networked control systems with large time-varying communication delays. We show that even a small controller-to-actuators delay uncertainty may lead to a non-small residual error in a…
Delays endanger safety of autonomous systems operating in a rapidly changing environment, such as nondeterministic surrounding traffic participants in autonomous driving and high-speed racing. Unfortunately, delays are typically not…
Predictor-based stabilization results are provided for nonlinear systems with input delays and a compact absorbing set. The control scheme consists of an inter-sample predictor, a global observer, an approximate predictor, and a nominal…
A modification to the ${\cal L}_1$ control framework for uncertain systems with actuator delay is presented. Specifically, a time delay is introduced in the control input of the state predictor to compensate for the destabilizing effect of…
In this work, we propose a rigorous method for implementing predictor feedback controllers in nonlinear systems with unknown and arbitrarily long actuator delays. To address the analytically intractable nature of the predictor, we…
The stochastic nature of time delays and sampling intervals in Networked Control Systems poses significant challenges for controller synthesis and analysis, often leading to conservative designs and degraded performance. This work presents…
Limitations of the delayed feedback control and of its extended versions have been fully treated in the literature. The oscillating delayed feedback control appears as a promising scheme to overcome this problem. In this work, two methods…
We study the possibility to stabilize unstable steady states and unstable periodic orbits in chaotic fractional-order dynamical systems by the time-delayed feedback method. By performing a linear stability analysis, we establish the…
A reliable controller is critical and essential for the execution of safe and smooth maneuvers of an autonomous vehicle.The controller must be robust to external disturbances, such as road surface, weather, and wind conditions, and so on.It…
Delays are ubiquitous in modern hybrid systems, which exhibit both continuous and discrete dynamical behaviors. Induced by signal transmission, conversion, the nature of plants, and so on, delays may appear either in the continuous…
Recent interest in networked control systems (NCS) has instigated research in both communication networks and control. Analysis of NCSs has usually been performed from either the network or the control point of view, but not many papers…
This paper addresses the stabilization control problem for networked mobile robot subject to communication delay. A new state estimation filter namely past observation-based predictive filter is developed. This filter enables the prediction…
We propose a novel feedback controller for a class of uncertain higher-order nonlinear systems, subject to delays in both state measurement and control input signals. Building on the prescribed performance control framework, a…
This paper presents a Newton-based stochastic extremum-seeking control method for real-time optimization in multi-input systems with distinct input delays. It combines predictor-based feedback and Hessian inverse estimation via stochastic…
We report on a significant improvement of the classical time-delayed feedback control method for stabilization of unstable periodic orbits or steady states. In an electronic circuit experiment we were able to realize time-varying and…
Networked control systems are closed-loop feedback control systems containing system components that may be distributed geographically in different locations and interconnected via a communication network such as the Internet. The quality…
This paper presents a new method for dynamic output feedback stabilizing controller design for decomposable systems with switching topology and delay. Our approach consists of two steps. In the first step, we model the decomposable systems…
Robustly compensating network constraints such as delays and packet dropouts in networked control systems is crucial for remotely controlling dynamical systems. This work proposes a novel prediction consistent method to cope with delays and…