ISS of predictor feedback for multi-input affine nonlinear systems with distinct input delays

被引：4
|
作者：
Cai, Xiushan [1 ,2 ]
Wang, Dingchao [2 ]
Wu, Jie [1 ]
Zhan, Xisheng [1 ]
机构：
[1] Hubei Normal Univ, Coll Mechatron & Control Engn, Huangshi 435002, Hubei, Peoples R China
[2] Zhejiang Normal Univ, Coll Math Phys & Informat Engn, Jinhua 321004, Zhejiang, Peoples R China
来源：
INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE | 2020年 / 51卷 / 13期
基金：
中国国家自然科学基金;
关键词：
Delay compensation; predictor feedback; multi-input nonlinear systems; input-to-state stabilisation; robustness; INVERSE OPTIMALITY; ACTUATOR DYNAMICS; ADAPTIVE-CONTROL; TRACKING CONTROL; LTI SYSTEMS; TIME; ROBUSTNESS; STABILIZATION; DESIGN;
D O I：
10.1080/00207721.2020.1793238
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
We develop a predictor feedback control scheme for multi-input affine nonlinear systems with distinct input delays in each individual input channel and additive disturbances. The input-to-state stable control Lyapunov function (ISS-CLF) is used to design control laws for the delay-free affine nonlinear systems. Then, a predictor-feedback controller is constructed for this class of nonlinear systems with input delays. We establish input-to-state stability with respect to additive plant disturbances, as well as we show that the control law derives gain margin guarantees. Our proofs are based on the infinite-dimensional backstepping transformation and the construction of a Lyapunov functional. The developed method is applied to the control of vehicular traffic flow at distant bottlenecks.
引用
收藏
页码：2326 / 2342
页数：17
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