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

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

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 languageEnglish
Title of host publication2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages4345-4350
Number of pages6
ISBN (Electronic)9781509028733
DOIs
StatePublished - 18 Jan 2018
Event56th IEEE Annual Conference on Decision and Control, CDC 2017 - Melbourne, Australia
Duration: 12 Dec 201715 Dec 2017

Publication series

Name2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017
Volume2018-January

Conference

Conference56th IEEE Annual Conference on Decision and Control, CDC 2017
Country/TerritoryAustralia
CityMelbourne
Period12/12/1715/12/17

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