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Predictor-feedback stabilization of multi-input nonlinear systems

Bekiaris-Liberis Nikolaos, Krstić, Miroslav

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URIhttp://purl.tuc.gr/dl/dias/E76FA348-9258-4870-B48B-3AE0416223AA-
Identifierhttps://ieeexplore.ieee.org/document/7458842/-
Identifierhttps://doi.org/10.1109/TAC.2016.2558293-
Languageen-
Extent16 pagesen
TitlePredictor-feedback stabilization of multi-input nonlinear systemsen
CreatorBekiaris-Liberis Nikolaosen
CreatorΜπεκιαρης-Λυμπερης Νικολαοςel
CreatorKrstić, Miroslaven
PublisherInstitute of Electrical and Electronics Engineersen
Content SummaryWe develop a predictor-feedback control design for multi-input nonlinear systems with distinct input delays, of arbitrary length, in each individual input channel. Due to the fact that different input signals reach the plant at different time instants, the key design challenge, which we resolve, is the construction of the predictors of the plant's state over distinct prediction horizons such that the corresponding input delays are compensated. Global asymptotic stability of the closed-loop system is established by utilizing arguments based on Lyapunov functionals or estimates on solutions. We specialize our methodology to linear systems for which the predictor-feedback control laws are available explicitly and for which global exponential stability is achievable. A detailed example is provided dealing with the stabilization of the nonholonomic unicycle, subject to two different input delays affecting the speed and turning rate, for the illustration of our methodology. en
Type of ItemPeer-Reviewed Journal Publicationen
Type of ItemΔημοσίευση σε Περιοδικό με Κριτέςel
Licensehttp://creativecommons.org/licenses/by/4.0/en
Date of Item2018-05-29-
Date of Publication2017-
SubjectDelay systemsen
SubjectDistributed parameter systemsen
SubjectNonlinear systemsen
SubjectPredictor feedbacken
Bibliographic CitationN. Bekiaris-Liberis and M. Krstic, "Predictor-feedback stabilization of multi-input nonlinear systems," IEEE T. Automat. Contr., vol. 62, no. 2, pp. 516-531, Feb. 2017. doi: 10.1109/TAC.2016.2558293en

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