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Robustness of Prediction Based Delay Compensation for Nonlinear Systems

DOI zum Zitieren der Version auf EPub Bayreuth: https://doi.org/10.15495/EPub_UBT_00005624
URN to cite this document: urn:nbn:de:bvb:703-epub-5624-2

Title data

Findeisen, Rolf ; Grüne, Lars ; Pannek, Jürgen ; Varutti, Paolo:
Robustness of Prediction Based Delay Compensation for Nonlinear Systems.
Bayreuth , 2011

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Abstract

Control of systems where the controller, actuator, and sensor are decentralized, e.g. connected only via a communication network, can be challenging. Information transmitted between controller, sensors, and actuators can be lost or delayed, leading to instability or poor performance of the closed loop. One way to improve the performance and to guarantee stability is the use of prediction based compensation schemes. Instead of a single input a sequence of (predicted) future controls is submitted and implemented at the actuator. Assuming that suitable, so-called prediction consistent compensation and control schemes, such as certain predictive control approaches, are used, stability of the closed loop in the presence of delays and packet losses can be guaranteed. In this paper, we show that control schemes employing prediction based delay compensation approaches for discrete time nonlinear systems do posses inherent robustness properties. Specifically, if the nominal closed loop system without delay compensation is ISS with respect to perturbation and measurement errors, then the closed loop system employing prediction based delay compensation techniques is robustly stable. Additionally, we analyze the influence of the prediction horizon on the robustness gains and illustrate the results by a numerical simulation.

Further data

Item Type: Preprint, postprint
Additional notes (visible to public): erscheint in:
IFAC Proceedings Volumes. Bd. 44 (2011) Heft 1 . - S. 203-208
DOI: https://doi.org/10.3182/20110828-6-IT-1002.03090
Keywords: Delay; information loss; nonlinear; stability; ISS; robustness; predictive control
DDC Subjects: 500 Science
500 Science > 510 Mathematics
Institutions of the University: Faculties > Faculty of Mathematics, Physics und Computer Science > Department of Mathematics > Chair Mathematics V (Applied Mathematics)
Faculties > Faculty of Mathematics, Physics und Computer Science > Department of Mathematics > Chair Mathematics V (Applied Mathematics) > Chair Mathematics V (Applied Mathematics) - Univ.-Prof. Dr. Lars Grüne
Faculties
Faculties > Faculty of Mathematics, Physics und Computer Science
Faculties > Faculty of Mathematics, Physics und Computer Science > Department of Mathematics
Language: English
Originates at UBT: Yes
URN: urn:nbn:de:bvb:703-epub-5624-2
Date Deposited: 26 May 2021 12:53
Last Modified: 08 Jun 2021 07:55
URI: https://epub.uni-bayreuth.de/id/eprint/5624

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