Delay-range-dependent observer-based control of nonlinear systems under input and output time-delays

作者：

Highlights：

• Observer-based control of nonlinear systems under input-output delays is studied.

• Time-varying nature of delays is incorporated for the controller design.

• Delay-range-dependent observer-based control is reported.

• Decoupling technique is applied to compute controller and observer gains.

• The control scheme is tested to control a one-link flexible joint robotic arm.

摘要

•Observer-based control of nonlinear systems under input-output delays is studied.•Time-varying nature of delays is incorporated for the controller design.•Delay-range-dependent observer-based control is reported.•Decoupling technique is applied to compute controller and observer gains.•The control scheme is tested to control a one-link flexible joint robotic arm.

论文关键词：Observer-based control,Decoupling technique,Nonlinear time-delay systems,Delay-range-dependency,Input and output delays

论文评审过程：Received 1 January 2015, Revised 26 March 2015, Accepted 14 April 2015, Available online 14 May 2015, Version of Record 14 May 2015.

论文官网地址：https://doi.org/10.1016/j.amc.2015.04.052