Stabilization of nonlinear delay systems using approximate predictors and high-gain observers

DOI10.1016/J.AUTOMATICA.2013.09.006zbMATH Open1315.93063arXiv1307.8040OpenAlexW2128025497WikidataQ59621605 ScholiaQ59621605MaRDI QIDQ2350844FDOQ2350844

Authors: Iasson Karafyllis, Miroslav Krstic 

Publication date: 25 June 2015

Published in: Automatica (Search for Journal in Brave)

Abstract: We provide a solution to the heretofore open problem of stabilization of systems with arbitrarily long delays at the input and output of a nonlinear system using output feedback only. The solution is global, employs the predictor approach over the period that combines the input and output delays, addresses nonlinear systems with sampled measurements and with control applied using a zero-order hold, and requires that the sampling/holding periods be sufficiently short, though not necessarily constant. Our approach considers a class of globally Lipschitz strict-feedback systems with disturbances and employs an appropriately constructed successive approximation of the predictor map, a high-gain sampled-data observer, and a linear stabilizing feedback for the delay-free system. The obtained results guarantee robustness to perturbations of the sampling schedule and different sampling and holding periods are considered. The approach is specialized to linear systems, where the predictor is available explicitly.

Full work available at URL: https://arxiv.org/abs/1307.8040

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zbMATH Keywords

nonlinear systemsdelay systemssampled-data control

Mathematics Subject Classification ID

Observability (93B07) Nonlinear systems in control theory (93C10) Sampled-data control/observation systems (93C57) Stabilization of systems by feedback (93D15)

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