Gonzalez, A.; García Gil, PJ.; Albertos Pérez, P.; Castillo, P.; Lozano, R. (2012). Robustness of a discrete-time predictor-based controller for time-varying measurement delay. Control Engineering Practice. 20(2):102-110. https://doi.org/10.1016/j.conengprac.2011.09.001
Por favor, use este identificador para citar o enlazar este ítem: http://hdl.handle.net/10251/33923
Title:
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Robustness of a discrete-time predictor-based controller for time-varying measurement delay
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Author:
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Gonzalez, A.
García Gil, Pedro José
Albertos Pérez, Pedro
Castillo, P
Lozano, R.
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UPV Unit:
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Universitat Politècnica de València. Departamento de Ingeniería de Sistemas y Automática - Departament d'Enginyeria de Sistemes i Automàtica
Universitat Politècnica de València. Instituto Universitario de Automática e Informática Industrial - Institut Universitari d'Automàtica i Informàtica Industrial
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Issued date:
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Abstract:
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A predictor-based controller for time-varying delay systems is presented in this paper and its robustness properties for different uncertainties are analyzed. First, a time-varying delay dependent stability condition is ...[+]
A predictor-based controller for time-varying delay systems is presented in this paper and its robustness properties for different uncertainties are analyzed. First, a time-varying delay dependent stability condition is expressed in terms of LMIs. Then, uncertainties in the knowledge of all plant-model parameters are considered and the resulting closed-loop system is shown to be robust with respect to these uncertainties. A significant improvement with respect to the same control strategy without predictor is achieved. The scheme is applicable to open-loop unstable plants and it has been tested in a real-time application to control the roll angle of a quad-rotor helicopter prototype. The experimental results show good performance and robustness of the proposed scheme even in the presence of long delay uncertainties. © 2011 Elsevier Ltd.
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Subjects:
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Digital implementation
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Discrete-predictor
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Linear matrix inequality (LMI)
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Robust stability
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Time-varying delay
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Controllers
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Helicopter rotors
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Linear matrix inequalities
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Robustness (control systems)
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Uncertainty analysis
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Time varying control systems
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Copyrigths:
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Reserva de todos los derechos
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Source:
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Control Engineering Practice. (issn:
0967-0661
)
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DOI:
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10.1016/j.conengprac.2011.09.001
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Publisher:
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International Federation of Automatic Control
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Publisher version:
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http://dx.doi.org/10.1016/j.conengprac.2011.09.001
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Project ID:
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info:eu-repo/grantAgreement/Conselleria d'Educació, Investigació, Cultura i Esport de la GVA//2008%2F088/
info:eu-repo/grantAgreement/MICINN//DPI2008-06737-C02-01/ES/NUCLEO DE CONTROL EN SISTEMAS DISTRIBUIDOS/
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Thanks:
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This work has been partially granted by Conselleria de Educacion under PROMETEO project number 2008-088, and CICYT no. DPI2008-06737-C02-01 from Spanish government.
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Type:
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Artículo
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