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Article Dans Une Revue Control Engineering Practice Année : 2012

Robustness of a discrete-time predictor-based controller for time-varying measurement delay

Résumé

A predictor-based controller for time-varying delay systems is presented in this paper and its robustness properties for different uncertainties are analyzed. First, a time-varying delay dependent stability condition is expressed in terms of LMIs. Then, uncertainties in the knowledge of all plant-model parameters are considered and the resulting closed-loop system is shown to be robust with respect to these uncertainties. A significant improvement with respect to the same control strategy without predictor is achieved. The scheme is applicable to open-loop unstable plants and it has been tested in a real-time application to control the roll angle of a quad-rotor helicopter prototype. The experimental results show good performance and robustness of the proposed scheme even in the presence of long delay uncertainties.

Domaines

Automatique
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Dates et versions

hal-00660224 , version 1 (16-01-2012)

Identifiants

Citer

A. Gonzalez, Pedro Garcia, Pedro Albertos, Pedro Castillo Garcia, R. Lozano. Robustness of a discrete-time predictor-based controller for time-varying measurement delay. Control Engineering Practice, 2012, 20 (2), pp.102-110. ⟨10.1016/j.conengprac.2011.09.001⟩. ⟨hal-00660224⟩
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