A predictive extended state observer for a class of nonlinear systems with input delay subject to external disturbances

Ricardo Sanz; Pedro Garcia; Emilia Fridman; Pedro Albertos

doi:10.1109/CDC.2017.8264300

A predictive extended state observer for a class of nonlinear systems with input delay subject to external disturbances

Ricardo Sanz, Pedro Garcia, Emilia Fridman, Pedro Albertos

School of Electrical Engineering

Polytechnic University of Valencia

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

9 Scopus citations

Abstract

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.

Original language	English
Title of host publication	2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	4345-4350
Number of pages	6
ISBN (Electronic)	9781509028733
DOIs	https://doi.org/10.1109/CDC.2017.8264300
State	Published - 28 Jun 2017
Event	56th IEEE Annual Conference on Decision and Control, CDC 2017 - Melbourne, Australia Duration: 12 Dec 2017 → 15 Dec 2017

Publication series

Name	2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017
Volume	2018-January

Conference

Conference	56th IEEE Annual Conference on Decision and Control, CDC 2017
Country/Territory	Australia
City	Melbourne
Period	12/12/17 → 15/12/17

Funding

Funders	Funder number
Generalitat Va-lenciana	TIN2014-56158-C4-4-P-AR
Ministerio de Economía y Competitividad

Access to Document

10.1109/CDC.2017.8264300

Cite this

Sanz, R., Garcia, P., Fridman, E., & Albertos, P. (2017). A predictive extended state observer for a class of nonlinear systems with input delay subject to external disturbances. In 2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017 (pp. 4345-4350). (2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017; Vol. 2018-January). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2017.8264300

Sanz, Ricardo ; Garcia, Pedro ; Fridman, Emilia et al. / A predictive extended state observer for a class of nonlinear systems with input delay subject to external disturbances. 2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 4345-4350 (2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017).

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title = "A predictive extended state observer for a class of nonlinear systems with input delay subject to external disturbances",

abstract = "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.",

author = "Ricardo Sanz and Pedro Garcia and Emilia Fridman and Pedro Albertos",

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Sanz, R, Garcia, P, Fridman, E & Albertos, P 2017, A predictive extended state observer for a class of nonlinear systems with input delay subject to external disturbances. in 2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017. 2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017, vol. 2018-January, Institute of Electrical and Electronics Engineers Inc., pp. 4345-4350, 56th IEEE Annual Conference on Decision and Control, CDC 2017, Melbourne, Australia, 12/12/17. https://doi.org/10.1109/CDC.2017.8264300

A predictive extended state observer for a class of nonlinear systems with input delay subject to external disturbances. / Sanz, Ricardo; Garcia, Pedro; Fridman, Emilia et al.
2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017. Institute of Electrical and Electronics Engineers Inc., 2017. p. 4345-4350 (2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017; Vol. 2018-January).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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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.

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Sanz R, Garcia P, Fridman E, Albertos P. A predictive extended state observer for a class of nonlinear systems with input delay subject to external disturbances. In 2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017. Institute of Electrical and Electronics Engineers Inc. 2017. p. 4345-4350. (2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017). doi: 10.1109/CDC.2017.8264300

A predictive extended state observer for a class of nonlinear systems with input delay subject to external disturbances

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