Robustness of Prediction Based Delay Compensation for Nonlinear Systems

Abstract : Control of systems where the information between the controller, actuator, and sensor can be lost or delayed can be challenging with respect to stability and performance. One way to overcome the resulting problems is the use of prediction based compensation schemes. Instead of a single input, a sequence of (predicted) future controls is submitted and implemented at the actuator. If suitable, so-called prediction consistent compensation and control schemes, such as certain predictive control approaches, are used, stability of the closed loop in the presence of delays and packet losses can be guaranteed. In this paper, we show that control schemes employing prediction based delay compensation approaches do posses inherent robustness properties. Specifically, if the nominal closed loop system without delay compensation is ISS with respect to perturbation and measurement errors, then the closed loop system employing prediction based delay compensation techniques is robustly stable. We analyze the influence of the prediction horizon on the robustness gains and illustrate the results in simulation.
Type de document :
Communication dans un congrès
18th IFAC World Congress, 2011, Milano, Italy. 18, pp.203-208, 2011, Proceedings of the 18th IFAC World Congress. 〈10.3182/20110828-6-IT-1002.03090〉
Liste complète des métadonnées

Littérature citée [17 références]  Voir  Masquer  Télécharger

https://hal.inria.fr/inria-00636088
Contributeur : Estelle Bouzat <>
Soumis le : mercredi 26 octobre 2011 - 16:37:03
Dernière modification le : vendredi 23 février 2018 - 10:42:17
Document(s) archivé(s) le : jeudi 15 novembre 2012 - 10:36:17

Fichier

gruene_pannek_et_al_ifac_2011....
Fichiers produits par l'(les) auteur(s)

Identifiants

Collections

Citation

Rolf Findeisen, Lars Grüne, Jürgen Pannek, Paolo Varutti. Robustness of Prediction Based Delay Compensation for Nonlinear Systems. 18th IFAC World Congress, 2011, Milano, Italy. 18, pp.203-208, 2011, Proceedings of the 18th IFAC World Congress. 〈10.3182/20110828-6-IT-1002.03090〉. 〈inria-00636088〉

Partager

Métriques

Consultations de la notice

173

Téléchargements de fichiers

147