×

Observer-based input-to-state stabilization of networked control systems with large uncertain delays. (English) Zbl 1348.93220

Summary: We consider output-feedback predictor-based stabilization of networked control systems with large unknown time-varying communication delays. For systems with two networks (sensors-to-controller and controller-to-actuators), we design a sampled-data observer that gives an estimate of the system state. This estimate is used in a predictor that partially compensates unknown network delays. We emphasize the purely sampled-data nature of the measurement delays in the observer dynamics. This allows an efficient analysis via the Wirtinger inequality, which is extended here to obtain exponential stability. To reduce the number of sent control signals, we incorporate the event-triggering mechanism. For systems with only a controller-to-actuators network, we take advantage of continuously available measurements by using a continuous-time predictor and employing a recently proposed switching approach to event-triggered control. For systems with only a sensors-to-controller network, we construct a continuous observer that better estimates the system state and increases the maximum output sampling, therefore, reducing the number of required measurements. A numerical example illustrates that the predictor-based control allows one to significantly increase the network-induced delays, whereas the event-triggering mechanism significantly reduces the network workload.

MSC:

93D15 Stabilization of systems by feedback
93D20 Asymptotic stability in control theory
93B07 Observability
93C65 Discrete event control/observation systems

References:

[1] Ahmed-Ali, T.; Karafyllis, I.; Lamnabhi-Lagarrigue, F., Global exponential sampled-data observers for nonlinear systems with delayed measurements, Systems & Control Letters, 62, 7, 539-549 (2013) · Zbl 1277.93051
[2] Antsaklis, P. J.; Baillieul, J., Guest editorial special issue on networked control systems, IEEE Transactions on Automatic Control, 49, 9, 1421-1423 (2004) · Zbl 1365.93005
[3] Artstein, Z., Linear systems with delayed controls: A reduction, IEEE Transactions on Automatic Control, 27, 4, 869-879 (1982) · Zbl 0486.93011
[4] Fridman, E., Introduction to time-delay systems: Analysis and Control (2014), Birkhäuser: Birkhäuser Basel · Zbl 1303.93005
[5] Fridman, E.; Seuret, A.; Richard, J.-P., Robust sampled-data stabilization of linear systems: an input delay approach, Automatica, 40, 8, 1441-1446 (2004) · Zbl 1072.93018
[6] Gao, H.; Chen, T.; Lam, J., A new delay system approach to network-based control, Automatica, 44, 1, 39-52 (2008) · Zbl 1138.93375
[7] Gelig, A. K.; Churilov, A. N., Stability and oscillations of nonlinear pulse-modulated systems (1998), Birkhäuser: Birkhäuser Boston · Zbl 0935.93001
[8] Gu, K.; Kharitonov, V. L.; Chen, J., Stability of time-delay systems (2003), Birkhäuser: Birkhäuser Boston · Zbl 1039.34067
[10] Karafyllis, I.; Krstic, M., Nonlinear stabilization under sampled and delayed measurements, and with inputs subject to delay and zero-order hold, IEEE Transactions on Automatic Control, 57, 5, 1141-1154 (2012) · Zbl 1369.93491
[12] Karafyllis, I.; Krstic, M.; Ahmed-Ali, T.; Lamnabhi-Lagarrigue, F., Global stabilisation of nonlinear delay systems with a compact absorbing set, International Journal of Control, 87, 5, 1010-1027 (2014) · Zbl 1291.93268
[13] Kwon, W.; Pearson, A., Feedback stabilization of linear systems with delayed control, IEEE Transactions on Automatic Control, 25, 2, 266-269 (1980) · Zbl 0438.93055
[14] Liu, K.; Fridman, E., Networked-based stabilization via discontinuous Lyapunov functionals, International Journal of Robust and Nonlinear Control, 22, 420-436 (2012) · Zbl 1261.93071
[15] Liu, K.; Fridman, E., Wirtinger’s inequality and Lyapunov-based sampled-data stabilization, Automatica, 48, 1, 102-108 (2012) · Zbl 1244.93094
[16] Liu, K.; Fridman, E., Delay-dependent methods and the first delay interval, Systems & Control Letters, 64, 57-63 (2014) · Zbl 1283.93140
[17] Liu, K.; Suplin, V.; Fridman, E., Stability of linear systems with general sawtooth delay, IMA Journal of Mathematical Control and Information, 27, 4, 419-436 (2010) · Zbl 1206.93080
[18] Mazenc, F.; Normand-Cyrot, D., Reduction model approach for linear systems with sampled delayed inputs, IEEE Transactions on Automatic Control, 58, 5, 1263-1268 (2013) · Zbl 1369.93500
[19] Mirkin, L., On the approximation of distributed-delay control laws, Systems & Control Letters, 51, 5, 331-342 (2004) · Zbl 1157.93391
[20] Park, P.; Ko, J. W.; Jeong, C., Reciprocally convex approach to stability of systems with time-varying delays, Automatica, 47, 1, 235-238 (2011) · Zbl 1209.93076
[21] Selivanov, A.; Fridman, E., Event-triggered \(H_\infty\) control: a switching approach, IEEE Transactions on Automatic Control (2016)
[22] Selivanov, A.; Fridman, E., Predictor-based networked control under uncertain transmission delays, Automatica, 70, 101-108 (2016) · Zbl 1339.93079
[23] Tabuada, P., Event-triggered real-time scheduling of stabilizing control tasks, IEEE Transactions on Automatic Control, 52, 9, 1680-1685 (2007) · Zbl 1366.90104
[24] Wang, X.; Lemmon, M. D., Self-triggered feedback control systems with finite-gain L2 stability, IEEE Transactions on Automatic Control, 54, 3, 452-467 (2009) · Zbl 1367.93354
[25] Zhang, W.; Branicky, M. S.; Phillips, S. M., Stability of networked control systems, IEEE Control Systems Magazine, 21, 1, 84-97 (2001)
This reference list is based on information provided by the publisher or from digital mathematics libraries. Its items are heuristically matched to zbMATH identifiers and may contain data conversion errors. In some cases that data have been complemented/enhanced by data from zbMATH Open. This attempts to reflect the references listed in the original paper as accurately as possible without claiming completeness or a perfect matching.