Title :
Tracking control of a nonlinear system with input-dependent delay
Author :
Dieulot, J.Y. ; Richard, J.P.
Author_Institution :
Lab. d´´Automatique et Informatique Industrielle de Lille, CNRS, Villeneuve d´´Ascq, France
Abstract :
A class of nonlinear systems with input dependent parameters and time delays has been considered, for which the output is oscillatory. As for δ-flat systems, the open-loop motion planning problem can be solved using an explicit parametrization of trajectories; however, it is shown that the structure of the system brings out some constraints on the input and therefore limits the possible choice of trajectories. An example is provided, in which the trajectory is piecewise polynomial, where the open loop control and the corresponding constraints are explicitly given
Keywords :
delays; nonlinear control systems; piecewise polynomial techniques; tracking; δ-flat systems; input dependent parameters; input-dependent delay; nonlinear system; open loop control; open-loop motion planning problem; oscillatory output; piecewise polynomial trajectory; tracking control; Continuous-stirred tank reactor; Control systems; Delay effects; Delay systems; Nonlinear control systems; Nonlinear systems; Open loop systems; Recycling; Trajectory; Transfer functions;
Conference_Titel :
Decision and Control, 2001. Proceedings of the 40th IEEE Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-7061-9
DOI :
10.1109/.2001.980523
