TY - GEN
T1 - Passivity-based model reference robust control for a class of nonlinear systems with input and state measurement delays
AU - Rodríguez-Seda, Erick J.
AU - López-Montesinos, Pedro O.
AU - Stipanović, Dušan M.
AU - Spong, Mark W.
PY - 2010
Y1 - 2010
N2 - This paper presents a model reference robust control framework that guarantees asymptotic stability of a class of nonlinear systems with arbitrarily large constant input and state measurement delays as well as uncertain system parameters. The proposed control framework combines the use of a modified wave scattering transformation to achieve overall stability and to enforce state convergence of the time delay nonlinear system to the desired state independently of unknown initial conditions, transmission losses, and computational errors. A numerical example illustrates the effectiveness of the proposed controller.
AB - This paper presents a model reference robust control framework that guarantees asymptotic stability of a class of nonlinear systems with arbitrarily large constant input and state measurement delays as well as uncertain system parameters. The proposed control framework combines the use of a modified wave scattering transformation to achieve overall stability and to enforce state convergence of the time delay nonlinear system to the desired state independently of unknown initial conditions, transmission losses, and computational errors. A numerical example illustrates the effectiveness of the proposed controller.
UR - http://www.scopus.com/inward/record.url?scp=77957779186&partnerID=8YFLogxK
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U2 - 10.1109/acc.2010.5531397
DO - 10.1109/acc.2010.5531397
M3 - Conference contribution
AN - SCOPUS:77957779186
SN - 9781424474264
T3 - Proceedings of the 2010 American Control Conference, ACC 2010
SP - 6585
EP - 6592
BT - Proceedings of the 2010 American Control Conference, ACC 2010
PB - IEEE Computer Society
ER -