TY - GEN
T1 - A predictive extended state observer for a class of nonlinear systems with input delay subject to external disturbances
AU - Sanz, Ricardo
AU - Garcia, Pedro
AU - Fridman, Emilia
AU - Albertos, Pedro
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/6/28
Y1 - 2017/6/28
N2 - This paper deals with asymptotic stabilization of a class of nonlinear input-delayed systems via dynamic outputfeedback in the presence of constant disturbances. The proposed strategy has the structure of an observer-based control law. However, the observer estimates and predicts both the plant and the external disturbance, being the latter counteracted by feed-forward. A nominal delay value is assumed to be known and stability conditions in terms of linear matrix inequalities are derived for fast-varying delay uncertainties. The controller design problem is also addressed and a numerical example is provided to illustrate the usefulness of the proposed strategy.
AB - This paper deals with asymptotic stabilization of a class of nonlinear input-delayed systems via dynamic outputfeedback in the presence of constant disturbances. The proposed strategy has the structure of an observer-based control law. However, the observer estimates and predicts both the plant and the external disturbance, being the latter counteracted by feed-forward. A nominal delay value is assumed to be known and stability conditions in terms of linear matrix inequalities are derived for fast-varying delay uncertainties. The controller design problem is also addressed and a numerical example is provided to illustrate the usefulness of the proposed strategy.
UR - http://www.scopus.com/inward/record.url?scp=85046139575&partnerID=8YFLogxK
U2 - 10.1109/CDC.2017.8264300
DO - 10.1109/CDC.2017.8264300
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AN - SCOPUS:85046139575
T3 - 2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017
SP - 4345
EP - 4350
BT - 2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 56th IEEE Annual Conference on Decision and Control, CDC 2017
Y2 - 12 December 2017 through 15 December 2017
ER -