Authors:
Imane Dilaneh
and
Laurent Laval
Affiliation:
ECS–ENSEA, France
Keyword(s):
Networked Control Systems, Time-varying delays, Lyapunov–Krasovskii functional, LMI.
Related
Ontology
Subjects/Areas/Topics:
Control and Supervision Systems
;
Distributed Control Systems
;
Industrial Networks and Automation
;
Informatics in Control, Automation and Robotics
;
Intelligent Control Systems and Optimization
;
Modeling, Simulation and Architectures
;
Robotics and Automation
;
Telerobotics and Teleoperation
Abstract:
This paper investigates the problem of remote stabilization via communication networks with uncertain, “nonsmall”, time-varying, non-symmetric transmission delays affecting both the control input and the measured output. More precisely, this paper focuses on a closed-loop Master-Slave setup with a TCP network as communication media, and an observer-based state-feedback control approach to deal with the stabilization objective. First, we establish some asymptotic stability criteria regarding to a Lyapunov–Krasovskii functional derived
from a descriptor model transformation, in case of “non-small” delays (that are time-varying delays with nonzero lower bounds). Then, some stability conditions are given in terms of Linear Matrix Inequalities which are used, afterwards, to design the observer and controller gains. Finally, the proposed stabilizing approach is illustrated through numerical and simulation results, related to the remote control of a “ball and beam” system.