scholarly journals Matrix Inequalities Based Robust Model Predictive Control for Vehicle Considering Model Uncertainties, External Disturbances, and Time-Varying Delay

2021 ◽  
Vol 14 ◽  
Author(s):  
Wenjun Liu ◽  
Guang Chen ◽  
Alois Knoll
Keyword(s):  
Cost Function ◽  
Infinite Horizon ◽  
Control Law ◽  
Time Varying ◽  
Model Uncertainties ◽  
External Disturbances ◽  
Robust Model Predictive Control ◽  
Time Varying Delay ◽  
Robust Model ◽  
Varying Delay

In this paper, we design a robust model predictive control (MPC) controller for vehicle subjected to bounded model uncertainties, norm-bounded external disturbances and bounded time-varying delay. A Lyapunov-Razumikhin function (LRF) is adopted to ensure that the vehicle system state enters in a robust positively invariant (RPI) set under the control law. A quadratic cost function is selected as the stage cost function, which yields the upper bound of the infinite horizon cost function. A Lyapunov-Krasovskii function (LKF) candidate related to time-varying delay is designed to obtain the upper bound of the infinite horizon cost function and minimize it at each step by using matrix inequalities technology. Then the robust MPC state feedback control law is obtained at each step. Simulation results show that the proposed vehicle dynamic controller can steer vehicle states into a very small region near the reference tracking signal even in the presence of external disturbances, model uncertainties and time-varying delay. The source code can be downloaded on https://github.com/wenjunliu999.

Cooperative control of multi-agent systems with time-delays

2018 ◽  
Author(s):  
◽  
Zhentao Xie
Keyword(s):  
Time Delay ◽  
Cooperative Control ◽  
Sliding Mode ◽  
Control Algorithms ◽  
Control Law ◽  
Time Varying ◽  
Multi Agent Systems ◽  
Model Uncertainties ◽  
Time Varying Delay ◽  
Varying Delay

[ACCESS RESTRICTED TO THE UNIVERSITY OF MISSOURI AT AUTHOR'S REQUEST.] In this dissertation, we designed two cooperative control algorithms for multi-agent systems with time-delays. The first one is Robust Sliding-Mode Cooperative Control for Multiple Time-Delay Systems with Model Uncertainties and Disturbance, in which, it designed a sliding mode cooperative control law for a general time-delay system with model uncertainty and external disturbance. For the delay-independent system, a sliding surface is constructed and a feasible solution to the LMI based on the Lyapunov stability theory is derived. The model uncertainty term is included in the control design by using a matrix factorization method. The second one is Cooperative Control for Multiple Agents with Time Varying Delay and Model Uncertainties, in which, it designed a cooperative control law for distributed multiple agents to follow a leader consensually under time-varying delay and model uncertainties. Comparing with the first control law design, our first promotion is to design a consensus control law for leader followers under time delay dependent case, which releases the two constraint conditions, which are the flaws in previous works. Our second promotion is that we take the time varying delay into consideration. In addition to the theoretical study, we also did experiment test of the cooperative control algorithms on Quadrotor-UAVs. We tested the system stability and the time-delay effects on systems. The results proved the validity of the designed control algorithms.

Event-triggered control of vehicular platoon system with time-varying delay and sensor faults

2020 ◽  
Vol 234 (14) ◽  
pp. 3362-3372
Author(s):  
Kritika Bansal ◽  
Pankaj Mukhija
Keyword(s):  
Communication Strategy ◽  
Energy Resources ◽  
Control Law ◽  
Time Varying ◽  
Sensor Faults ◽  
Time Varying Delay ◽  
System A ◽  
Event Triggering ◽  
Leader Following ◽  
Varying Delay

This paper addresses the problem of control of a vehicular platoon system with limited on-board resources in the presence of time-varying delay and sensor faults. A platoon system with predecessor-leader following topology in which each vehicle suffers from probabilistic sensor faults and time-varying delay is considered. To reduce the utilization of communication and energy resources in the system, a novel event-triggering communication strategy at the sensor-controller channel is proposed. Based on the proposed triggering strategy, a criteria for co-designing of the triggering parameter and the control law ensuring internal stability of the platoon system is developed. Furthermore, additional conditions are established for the obtained controller to guarantee string stability of the platoon system. The efficacy of the proposed methodology is demonstrated through numerical simulations.

Robust Absolute Stabilization of Time-Varying Delay Systems with Maximum Admissible Perturbed Bound

2010 ◽  
Vol 40-41 ◽  
pp. 103-110
Author(s):  
Jie Jin
Keyword(s):  
State Feedback ◽  
State Feedback Control ◽  
Delay Systems ◽  
Linear Matrix ◽  
Control Law ◽  
Time Varying ◽  
Time Varying Delay ◽  
Linear State ◽  
Varying Delay ◽  
Nonlinear Delay

This paper is concerned the problem of robust absolute stabilization of time-varying delay systems with admissible perturbation in terms of integral inequality. A linear state-feedback control law is derived for one class of delay systems with sector restriction based on linear matrix inequality (LMI). Especially, this method does not require input terms are absolutely controllable for nonlinear delay systems. Numerical example is used to demonstrate the validity of the proposed method.

scholarly journals Finite-Time Stability of Uncertain Nonlinear Systems with Time-Varying Delay

2017 ◽  
Vol 2017 ◽  
pp. 1-9 ◽  
Author(s):  
Jingting Hu ◽  
Guixia Sui ◽  
Shengli Du ◽  
Xiaodi Li
Keyword(s):  
Nonlinear Systems ◽  
Finite Time ◽  
Delay Systems ◽  
Time Varying ◽  
Uncertain Nonlinear Systems ◽  
Time Stability ◽  
External Disturbances ◽  
Finite Time Stability ◽  
Time Varying Delay ◽  
Varying Delay

The problem of finite-time stability for a class of uncertain nonlinear systems with time-varying delay and external disturbances is investigated. By using the Lyapunov stability theory, sufficient conditions for the existence of finite-time state feedback controller for this class of systems are derived. The results can be applied to finite-time stability problems of linear time-delay systems with parameter uncertainties and external disturbances. Finally, two numerical examples are given to demonstrate the effectiveness of the obtained theoretical results.

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