Robust H[subscript ∞] Output Tracking Control for a Class of Nonlinear Systems with Time-Varying Delays
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Author(s)
Bauchspiess, Adolfo
Ishihara, João Y.
Borges, Geovany A.
Figueredo, Luis F. C.
Alternative Title
Robust H∞ Output Tracking Control for a Class of Nonlinear Systems with Time-Varying Delays
Date Issued
December 2013
Journal
Circuits, Systems, and Signal Processing
Publisher
Springer US
Citation
Figueredo, Luis F. C. et al. “Robust H ∞ Output Tracking Control for a Class of Nonlinear Systems with Time-Varying Delays.” Circuits, Systems, and Signal Processing 33.5 (2014): 1451–1471.
Version
Author's final manuscript
Abstract
This paper addresses the H∞ output tracking problem for a class of nonlinear systems subjected to model uncertainties and with interval time-varying delay. The stability of the nonlinear time-delay system is analyzed with a novel delay-interval-dependent Lyapunov–Krasovskii functional. Compared to state-of-the-art criteria for linear and nonlinear time-delay systems, less conservative stability conditions are derived with the introduction of new delay-interval-dependent terms and the exploitation of the delay subintervals size. The proposed analysis considers that the delay derivative is either upper and lower bounded, bounded above only, or unbounded, i.e., no restrictions are cast upon the derivative. Numerical examples are provided to enlighten the importance and advantages of the present criterion which outperforms previous criteria in time-delay systems literature. Also, an additional example is provided to highlight the effectiveness of the proposed H∞ output tracking control design technique for complex nonlinear systems with time-varying delay.
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Terms of Use
Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
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DOI of Published Version
https://doi.org/10.1007/s00034-013-9707-z
