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Predictor-based stabilisation for discrete nonlinear systems with state-dependent input delays

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Listed:
  • Xiushan Cai
  • Linling Liao
  • Yang Liu
  • Cong Lin

Abstract

We consider predictor-based stabilisation for discrete nonlinear systems with state-dependent input delays. The key design is how to determine the prediction horizon and the predictor state. Sufficient conditions for stabilisation of the closed-loop system are obtained. An explicit feedback law is presented for compensating state-dependent input delay. Since input delay is dependent on state, a region of attraction is estimated for the closed-loop system. The proposed predictor-based design can be applied in controlling the yaw angular displacement of a four-rotor mini-helicopter.

Suggested Citation

  • Xiushan Cai & Linling Liao & Yang Liu & Cong Lin, 2017. "Predictor-based stabilisation for discrete nonlinear systems with state-dependent input delays," International Journal of Systems Science, Taylor & Francis Journals, vol. 48(4), pages 769-777, March.
    • Handle: RePEc:taf:tsysxx:v:48:y:2017:i:4:p:769-777
    DOI: 10.1080/00207721.2016.1212435
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