Predictor-Based Control of a Class of Time-Delay Systems and Its Application to Quadrotors
In this paper, a new robust control strategy based on a predictor and the uncertainty and disturbance estimator is developed for a class of uncertain nonlinear systems with input/output delays. The closed-loop system is analyzed and sufficient stability conditions are derived based on Lyapunov analy...
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| Veröffentlicht in: | IEEE transactions on industrial electronics (1982) 2017-01, Vol.64 (1), p.459-469 |
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| container_title | IEEE transactions on industrial electronics (1982) |
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| creator | Sanz, Ricardo Garcia, Pedro Qing-Chang Zhong Albertos, Pedro |
| description | In this paper, a new robust control strategy based on a predictor and the uncertainty and disturbance estimator is developed for a class of uncertain nonlinear systems with input/output delays. The closed-loop system is analyzed and sufficient stability conditions are derived based on Lyapunov analysis. The proposed strategy is applied to the particular case of quadrotor systems and validated through extensive simulations to evaluate performance and robustness. The controller is also implemented in a quadrotor prototype and validated in flight tests. |
| doi_str_mv | 10.1109/TIE.2016.2609378 |
| format | Article |
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The closed-loop system is analyzed and sufficient stability conditions are derived based on Lyapunov analysis. The proposed strategy is applied to the particular case of quadrotor systems and validated through extensive simulations to evaluate performance and robustness. 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The closed-loop system is analyzed and sufficient stability conditions are derived based on Lyapunov analysis. The proposed strategy is applied to the particular case of quadrotor systems and validated through extensive simulations to evaluate performance and robustness. The controller is also implemented in a quadrotor prototype and validated in flight tests.</description><subject>Closed loop systems</subject><subject>Delay effects</subject><subject>Delays</subject><subject>Feedback control</subject><subject>Nonlinear systems</subject><subject>Observers</subject><subject>prediction</subject><subject>quadrotor</subject><subject>Robust control</subject><subject>Rotary wing aircraft</subject><subject>Stability analysis</subject><subject>Time delay systems</subject><subject>time-delay</subject><subject>Uncertainty</subject><subject>uncertainty and disturbance estimator (UDE)</subject><issn>0278-0046</issn><issn>1557-9948</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2017</creationdate><recordtype>article</recordtype><sourceid>RIE</sourceid><recordid>eNo9kE1LAzEQhoMoWKt3wUvA89Z87ObjWNeqhYKK9eIlpJsJbNlu1iQ99N-7peJp5vC87zAPQreUzCgl-mG9XMwYoWLGBNFcqjM0oVUlC61LdY4mhElVEFKKS3SV0pYQWla0mqDv9wiubXKIxaNN4HAd-hxDh4PHFtedTem4rtsdFE_Q2QP-PKQMu4Rt7_AyJzwfhq5tbG5Dj3PAH3vrYhj70jW68LZLcPM3p-jrebGuX4vV28uynq-KhmmaC0eol5wp4R1oSTx4X7LGS6eEA68d5SCAE-eYZ1pvKjF-AV55TiV3G634FN2feocYfvaQstmGfezHk4aqUjEhKdcjRU5UE0NKEbwZYruz8WAoMUeDZjRojgbNn8ExcneKtADwj8tKyKoS_BfGe2x8</recordid><startdate>201701</startdate><enddate>201701</enddate><creator>Sanz, Ricardo</creator><creator>Garcia, Pedro</creator><creator>Qing-Chang Zhong</creator><creator>Albertos, Pedro</creator><general>IEEE</general><general>The Institute of Electrical and Electronics Engineers, Inc. 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| ispartof | IEEE transactions on industrial electronics (1982), 2017-01, Vol.64 (1), p.459-469 |
| issn | 0278-0046 1557-9948 |
| language | eng |
| recordid | cdi_proquest_journals_1848267139 |
| source | IEEE Electronic Library (IEL) |
| subjects | Closed loop systems Delay effects Delays Feedback control Nonlinear systems Observers prediction quadrotor Robust control Rotary wing aircraft Stability analysis Time delay systems time-delay Uncertainty uncertainty and disturbance estimator (UDE) |
| title | Predictor-Based Control of a Class of Time-Delay Systems and Its Application to Quadrotors |
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