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Chapitre D'ouvrage Année : 2004

Robust prediction-based control for unstable delay systems

Résumé

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 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.
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Dates et versions

hal-01138961 , version 1 (03-04-2015)

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Rogelio Lozano, Pedro Garcia Gil, Pedro Castillo, Alejandro Dzul. Robust prediction-based control for unstable delay systems. S. Niculescu and K. Gu. Advances in Time-Delay Systems, 38, Springer Berlin Heidelberg, pp.311-325, 2004, Lecture Notes in Computational Science and Engineering, ⟨10.1007/978-3-642-18482-6_23⟩. ⟨hal-01138961⟩
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