Robust H[subscript ∞] Output Tracking Control for a Class of Nonlinear Systems with Time-Varying Delays
Author(s)Bauchspiess, Adolfo; Ishihara, João Y.; Borges, Geovany A.; Figueredo, Luis F. C.
Robust H∞ Output Tracking Control for a Class of Nonlinear Systems with Time-Varying Delays
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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.
DepartmentMassachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Circuits, Systems, and Signal Processing
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.
Author's final manuscript