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A new continuous-time stability perspective of time-delay control : Introducing a state-dependent upper bound structure. / Roy, Spandan; Lee, Jinoh; Baldi, Simone.

In: IEEE Control Systems Letters, Vol. 3, No. 2, 2019, p. 475-480.

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@article{e8afcc01fbf84a48a04daf6b241f92d2,
title = "A new continuous-time stability perspective of time-delay control: Introducing a state-dependent upper bound structure",
abstract = "In the literature of any time-delay control (TDC)-based methods, the boundedness of the error due to time-delay estimation (TDE) is crucial to prove the stability. However, the TDE error has been studied by discretizing the closed-loop system while neglecting the effect of discretization error; consequently, the TDE error is considered to be upper bounded by a constant. This paper proves that such constant upper bound is restrictive in nature due to the explicit involvement of system states in the TDE error. Thereby, without discretizing the closed-loop system, a new structure of the upper bound of TDE error is directly formulated in the continuous-time domain which has an explicit dependency on the system states. Via this formulation, this paper solves the long-standing problem for TDC of having consistent stability analysis and control design in continuous time. Based on the newly proposed structure of TDE error, an enhanced robust control law is formulated. The effectiveness of the proposed method is experimentally substantiated as compared to the conventional TDC using a multiple-degrees-of-freedom robot.",
keywords = "Closed loop systems, Lyapunov Stability, Robots, Robust control, Robust Control, Stability criteria, Time-Delay Control., Uncertainty, Upper bound",
author = "Spandan Roy and Jinoh Lee and Simone Baldi",
year = "2019",
doi = "10.1109/LCSYS.2019.2901566",
language = "English",
volume = "3",
pages = "475--480",
journal = "IEEE Control Systems Letters",
issn = "2475-1456",
publisher = "IEEE",
number = "2",

}

RIS

TY - JOUR

T1 - A new continuous-time stability perspective of time-delay control

T2 - IEEE Control Systems Letters

AU - Roy, Spandan

AU - Lee, Jinoh

AU - Baldi, Simone

PY - 2019

Y1 - 2019

N2 - In the literature of any time-delay control (TDC)-based methods, the boundedness of the error due to time-delay estimation (TDE) is crucial to prove the stability. However, the TDE error has been studied by discretizing the closed-loop system while neglecting the effect of discretization error; consequently, the TDE error is considered to be upper bounded by a constant. This paper proves that such constant upper bound is restrictive in nature due to the explicit involvement of system states in the TDE error. Thereby, without discretizing the closed-loop system, a new structure of the upper bound of TDE error is directly formulated in the continuous-time domain which has an explicit dependency on the system states. Via this formulation, this paper solves the long-standing problem for TDC of having consistent stability analysis and control design in continuous time. Based on the newly proposed structure of TDE error, an enhanced robust control law is formulated. The effectiveness of the proposed method is experimentally substantiated as compared to the conventional TDC using a multiple-degrees-of-freedom robot.

AB - In the literature of any time-delay control (TDC)-based methods, the boundedness of the error due to time-delay estimation (TDE) is crucial to prove the stability. However, the TDE error has been studied by discretizing the closed-loop system while neglecting the effect of discretization error; consequently, the TDE error is considered to be upper bounded by a constant. This paper proves that such constant upper bound is restrictive in nature due to the explicit involvement of system states in the TDE error. Thereby, without discretizing the closed-loop system, a new structure of the upper bound of TDE error is directly formulated in the continuous-time domain which has an explicit dependency on the system states. Via this formulation, this paper solves the long-standing problem for TDC of having consistent stability analysis and control design in continuous time. Based on the newly proposed structure of TDE error, an enhanced robust control law is formulated. The effectiveness of the proposed method is experimentally substantiated as compared to the conventional TDC using a multiple-degrees-of-freedom robot.

KW - Closed loop systems

KW - Lyapunov Stability

KW - Robots

KW - Robust control

KW - Robust Control

KW - Stability criteria

KW - Time-Delay Control.

KW - Uncertainty

KW - Upper bound

UR - http://www.scopus.com/inward/record.url?scp=85062391813&partnerID=8YFLogxK

U2 - 10.1109/LCSYS.2019.2901566

DO - 10.1109/LCSYS.2019.2901566

M3 - Article

VL - 3

SP - 475

EP - 480

JO - IEEE Control Systems Letters

JF - IEEE Control Systems Letters

SN - 2475-1456

IS - 2

ER -

ID: 52144559