Work

Control of Nonlinear Systems with Input Delays and Disturbances Using State and Disturbance Sub-Predictors

Year: 2025

Type: article

Abstract: This paper proposes a new method for controlling nonlinear systems with input signal delays in the presence of external disturbances. The control law consists of two components: the first component, based on a sub-predictor for the controlled variable, stabilizes the unstable system, while the second component, which is based on a disturbance sub-predictor, compensates for external disturbances. The tracking error (stabilization error), which depends on the magnitude of the disturbances, can be reduced by increasing the order of the disturbance sub-predictor. Sufficient conditions for the stability of the closed-loop system with a given maximum delay are derived using the Lyapunov–Krasovskii method and formulated as linear matrix inequalities (LMIs). Numerical simulations are presented to demonstrate the effectiveness of the proposed method.

Source: Mathematics

DOI: 10.3390/math13111713

Authors: Ba Huy Nguyen, The Dong Dang, Igor B. Furtat, Anh Quan Dao, Pavel A. Gushchin

Institutions: Institute of Problems of Mechanical Engineering, ITMO University, St Petersburg University, Hung Vuong University

Language: English

Topic: Stability and Control of Uncertain Systems

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: gold

Estimated APC paid: $3,137

Funder: Russian Science Foundation