Gain-scheduled predictive extended state observer for time-varying delays systems with mismatched disturbances

Gonzalez, A. (Universidad de Zaragoza) ; Balaguer, V. ; Garcia, P. ; Cuenca, A.

Resumen: In this paper, a novel control scheme for systems with input and output time-varying delays is provided in discrete-time domain. The control strategy combines predictor-like techniques with a delay-dependent gain-scheduled extended state observer. The main goal is twofold: (i) to minimize the negative effect of time-varying delays in the closed-loop performance and, (ii) to actively compensate the effect of mismatched disturbances in the controlled output. Moreover, a sufficient condition based on Linear Matrix Inequalities (LMI) is provided to obtain the maximum delay interval that ensures the stability of the closed-loop system. Finally, the achieved benefits of the proposal are shown by simulation in open-loop unstable plants, and experimentally validated in a test-bed quadrotor platform.

Idioma: Inglés

DOI: 10.1016/j.isatra.2018.09.024

Año: 2018

Publicado en: ISA TRANSACTIONS 84 (2018), 206 - 213
ISSN: 0019-0578

Factor impacto JCR: 4.343 (2018)

Categ. JCR: AUTOMATION & CONTROL SYSTEMS rank: 14 / 62 = 0.226 (2018) - Q1 - T1
Categ. JCR: ENGINEERING, MULTIDISCIPLINARY rank: 8 / 88 = 0.091 (2018) - Q1 - T1
Categ. JCR: INSTRUMENTS & INSTRUMENTATION rank: 6 / 61 = 0.098 (2018) - Q1 - T1

Factor impacto SCIMAGO: 1.163 - Applied Mathematics (Q1) - Instrumentation (Q1) - Electrical and Electronic Engineering (Q1) - Computer Science Applications (Q1)

Financiación: info:eu-repo/grantAgreement/EC/H2020/740736/EU/C2 Advanced Multi-domain Environment and Live Observation Technologies/CAMELOT
Financiación: info:eu-repo/grantAgreement/ES/MINECO-FEDER/DPI2015-69376-R
Financiación: info:eu-repo/grantAgreement/ES/MINECO/TIN2017-86520-C3-1-R

Tipo y forma: Article (PostPrint)

Área (Departamento): Área Ingen.Sistemas y Automát. (Dpto. Informát.Ingenie.Sistms.)