DocumentCode
404074
Title
Robust prediction-based control for unstable delay systems
Author
Lozano, R. ; Castillo, P. ; Garcia, P. ; Dzul, A.
Author_Institution
Heudiasyc-UTC, Compiegne, France
Volume
4
fYear
2003
fDate
9-12 Dec. 2003
Firstpage
4014
Abstract
We present a discrete-time prediction based state-feedback controller. It is shown that this controller stabilizes possibly unstable continuous-time delay systems. The stability is shown to be robust with respect to uncertainties in the knowledge on the plant parameters, the system delay and the sampling period. The proposed prediction based controller has been tested in a real-time application to control the yaw angular displacement of a 4-rotor mini-helicopter.
Keywords
delay systems; discrete time systems; displacement control; helicopters; predictive control; robust control; state feedback; 4-rotor mini helicopter; delay systems; discrete time system; plant parameters; prediction based control; robust control; sampling period; stability; state feedback controller; system delay; yaw angular displacement control; Control systems; Delay systems; Displacement control; Robust control; Robust stability; Robustness; Sampling methods; Stability analysis; Testing; Uncertainty;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 2003. Proceedings. 42nd IEEE Conference on
ISSN
0191-2216
Print_ISBN
0-7803-7924-1
Type
conf
DOI
10.1109/CDC.2003.1271778
Filename
1271778
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