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Technical University of Crete
Technical University of Crete
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| URI | http://purl.tuc.gr/dl/dias/E76FA348-9258-4870-B48B-3AE0416223AA | - |
| Identifier | https://ieeexplore.ieee.org/document/7458842/ | - |
| Identifier | https://doi.org/10.1109/TAC.2016.2558293 | - |
| Language | en | - |
| Extent | 16 pages | en |
| Title | Predictor-feedback stabilization of multi-input nonlinear systems | en |
| Creator | Bekiaris-Liberis Nikolaos | en |
| Creator | Μπεκιαρης-Λυμπερης Νικολαος | el |
| Creator | Krstić, Miroslav | en |
| Publisher | Institute of Electrical and Electronics Engineers | en |
| Content Summary | We develop a predictor-feedback control design for multi-input nonlinear systems with distinct input delays, of arbitrary length, in each individual input channel. Due to the fact that different input signals reach the plant at different time instants, the key design challenge, which we resolve, is the construction of the predictors of the plant's state over distinct prediction horizons such that the corresponding input delays are compensated. Global asymptotic stability of the closed-loop system is established by utilizing arguments based on Lyapunov functionals or estimates on solutions. We specialize our methodology to linear systems for which the predictor-feedback control laws are available explicitly and for which global exponential stability is achievable. A detailed example is provided dealing with the stabilization of the nonholonomic unicycle, subject to two different input delays affecting the speed and turning rate, for the illustration of our methodology. | en |
| Type of Item | Peer-Reviewed Journal Publication | en |
| Type of Item | Δημοσίευση σε Περιοδικό με Κριτές | el |
| License | http://creativecommons.org/licenses/by/4.0/ | en |
| Date of Item | 2018-05-29 | - |
| Date of Publication | 2017 | - |
| Subject | Delay systems | en |
| Subject | Distributed parameter systems | en |
| Subject | Nonlinear systems | en |
| Subject | Predictor feedback | en |
| Bibliographic Citation | N. Bekiaris-Liberis and M. Krstic, "Predictor-feedback stabilization of multi-input nonlinear systems," IEEE T. Automat. Contr., vol. 62, no. 2, pp. 516-531, Feb. 2017. doi: 10.1109/TAC.2016.2558293 | en |
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