Work

A forwarding-based approach for the stabilization of linear systems in the presence of delayed nonlinear actuators

Year: 2024

Type: conference-paper

Abstract: In this paper, we revisit the forwarding approach for the input-to-states stabilization of linear systems subject to external perturbations, input nonlinearities (e.g. saturation and backlash functions), and different input delays. For this problem, we propose a Lyapunov functional analysis in the original coordinates certifying input-to-states stability of the origin with any desired type of convergence (asymptotic, finite-time, fixed-time, etc). At the end, we present some numerical simulations to show the effectiveness of our method and to show that in the linear case we recover the well-known backstepping methodology for delay compensation.

Source: Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes

DOI: 10.1109/cdc56724.2024.10886591

Authors: Salim Zekraoui, Mathieu Bajodek, Daniele Astolfi

Institutions: Lyon 1 Université, Centre National de la Recherche Scientifique, Laboratoire d'Automatique, de Génie des Procédés et de Génie Pharmaceutique, École d'Ingénieurs en Chimie et Sciences du Numérique

Language: English

Topic: Stability and Control of Uncertain Systems

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: green

Funder: Agence Nationale de la Recherche

Award: In_x000C_finite dimensional internal model regulators for fi_x000C_nite dimensional systems