A continuous-time approach to networked control of nonlinear systems

Author

Tavassoli, Babak

Author_Institution

Fac. of Electr. & Comput. Eng., K.N. Toosi Univ. of Technol., Tehran, Iran

fYear

2011

fDate

12-15 Dec. 2011

Firstpage

217

Lastpage

221

Abstract

A nonlinear networked control system in which the system information is transmitted over the network through multiple communication channels is considered. Each channel is modeled by a time-varying delay element. Stability of the control system is studied using the Lyapunov-Krasovskii method for continuous-time delayed systems. The sufficient condition for stability of the networked control system is presented in the form of a compact LMI. The results are applied to a robot arm networked control system to show the capabilities of the proposed method for nonlinear networked control applications.

Keywords

Lyapunov methods; continuous time systems; delays; distributed control; linear matrix inequalities; multivariable control systems; networked control systems; nonlinear control systems; time-varying systems; LMI; Lyapunov-Krasovskii method; continuous-time approach; continuous-time delayed systems; multiple communication channels; nonlinear networked control system; nonlinear systems; robot arm networked control system; time-varying delay; Delay; Equations; Networked control systems; Robots; Sensors; Stability analysis;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control and European Control Conference (CDC-ECC), 2011 50th IEEE Conference on

Conference_Location

Orlando, FL

ISSN

0743-1546

Print_ISBN

978-1-61284-800-6

Electronic_ISBN

0743-1546

Type

conf

DOI

10.1109/CDC.2011.6161331

Filename

6161331