Robust prediction-based control for unstable delay systems: Application to the yaw control of a mini-helicopter

Lozano, Rogelio; Castillo, Pedro; Garcia, Pedro Castillo; Dzul, A.

doi:10.1016/j.automatica.2003.10.007

Cited by 146 publications

(87 citation statements)

References 14 publications

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“…Global stabilization of control systems with large delays by means of sampled-data output feedback with positive sampling rate remains a challenging problem. There are few results on the global stabilization of systems with input applied with Zero-Order-Hold and sampled measurements which do not coincide with the state vector (output measurement) even in the delay-free case; see [12,2,26,6,20]. The existing results either exploit the linear structure or a global Lipschitz property.…”

Section: Introductionmentioning

confidence: 99%

Sampled-Data Stabilization of Nonlinear Delay Systems With a Compact Absorbing Set

Karafyllis

Krstić

2015

IFAC-PapersOnLine

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Section: Introductionmentioning

confidence: 99%

Sampled-Data Stabilization of Nonlinear Delay Systems With a Compact Absorbing Set

Karafyllis

Krstić

2015

IFAC-PapersOnLine

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“…In order to measure time delays between the controller output and the plant input in real time, we design an algorithm to measure round trip time (RTT) between WSN nodes, and implement it into TinyOS of WSN. By using the measured time delays as a parameter, we construct the discrete-time state predictor [6], [7] to compensate the time delays between the controller output and the plant input in real time. The discrete-time state predictor suitably compensates measured time delays in the feedback loop.…”

Section: Introductionmentioning

confidence: 99%

Design of Networked Control System with Discrete-Time State Predictor over WSN

Yi¹,

Kim²,

Choi³

2014

JACN

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Abstract-We design a networked control system (NCS) with discrete-time state predictor where the communication between the controller output and the plant input takes place over a wireless sensor network (WSN). In order to measure time delays between the controller output and the plant input in real time, we design an algorithm to measure round trip time (RTT) between WSN nodes, and implement it into TinyOS of WSN. By using the measured time delays, we construct the discrete-time state predictor to compensate the time delays between the controller output and the plant input in real-time. For the real time experiment, we simulate the dynamic plant model, the controller, and WSN interface using Real-Time Windows Target provided in MATLAB. The WSN interface in the Simulink model consists of serial ports, which connect the controller output and the plant input with WSN nodes. The experiment results show that the time delays between the controller output and the plant input are precisely measured in real time; the discrete-time state predictor appropriately compensates the time delays; and the stability is achieved in the closed-loop of the NCS.Index Terms-Delay, discrete-time state predictor, NCS, WSN. I. INTRODUCTIONNetwork control systems (NCSs) are spatially distributed systems in which sensors, actuators, and controllers exchange I/O information through a shared band-limited digital communication network. NCSs have been finding applications in a broad range of areas such as mobile sensor networks, remote surgery, haptics collaboration over the Internet, automated highway systems, and unmanned aerial vehicles [1], [2]. In particular, wireless networked control systems (WNCSs) are more promising because the deployment of wireless networks allows fully mobile operation, flexible installation and rapid deployment while reducing maintenance costs [3]. The key issue in NCSs is how to deal with the network delay and packet loss because it is well-known that even a small amount of time delay in the feedback loop of a control system can make the whole system oscillating or unstable [4].On the other hand, advances in pervasive computing, communication and sensing technologies are leading to the Manuscript received October 29, 2013; revised December 20, 2013 However,in [5], the time delay between sensors and controllers is not measured but just assumed to be a bounded value that is dependent on the sampling period of sensors.In this paper, we design an NCS with discrete-time state predictor where the communication between the controller output and the plant input takes place over WSNs. In order to measure time delays between the controller output and the plant input in real time, we design an algorithm to measure round trip time (RTT) between WSN nodes, and implement it into TinyOS of WSN. By using the measured time delays as a parameter, we construct the discrete-time state predictor [6], [7] to compensate the time delays between the controller output and the plant input in real time. The discrete-time state predictor su...

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“…Concretamente, la técnica de Asignación de Espectro Finito (FSA) [83] ha sido probada sobre sistemas discretos (tanto estables como inestables) con retardos, mediante un esquema de control basado en la predicción futura del estado (análogo al FSA continuo), obtenido a partir del modelo discreto del proceso. Este esquema de control se denomina predictor [81,38].…”

Section: Justificación Y Objetivosunclassified

“…El objetivo de las técnicas de modelado basado en la sobreaproximación de los sistemas con retardos variables consiste básicamente en establecer los pasos a seguir para la obtención de un modelo discreto con incertidumbres [81,98] que facilite el estudio (análisis y diseño de controladores) en el dominio temporal. La idea grosso modo consiste en encapsular el efecto de las variaciones temporales de retardo dentro de las matrices de incertidumbre del modelo.…”

Section: Técnicas De Sobreaproximación (Retardo Variable)unclassified

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Controladores digitales basados en predictor para sistemas con retardos variables en el tiempo

Sorribes¹

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Robust prediction-based control for unstable delay systems: Application to the yaw control of a mini-helicopter

Cited by 146 publications

References 14 publications

Sampled-Data Stabilization of Nonlinear Delay Systems With a Compact Absorbing Set

Sampled-Data Stabilization of Nonlinear Delay Systems With a Compact Absorbing Set

Design of Networked Control System with Discrete-Time State Predictor over WSN

Controladores digitales basados en predictor para sistemas con retardos variables en el tiempo

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