Prediction-based control for nonlinear state-and input-delay systems with the aim of delay-robustness analysis

Delphine Bresch-Pietri (1) , Nicolas Petit (2) , Miroslav Krstic (3)

1 GIPSA-SLR - GIPSA - Systèmes linéaires et robustesse
2 CAS - Centre Automatique et Systèmes
3 MAE - UC San Diego - Department of Mechanical and Aerospace Engineering [Univ California San Diego]

This paper investigates prediction-based control for nonlinear systems subject to both pointwise input-and (potentially) distributed state-delays. We address infinity-norm stability analysis of the corresponding closed-loop system refor-mulating both delays as transport Partial Differential Equations (PDEs) and transforming the resulting distributed state. We show how the performed analysis can be extended to establish robustness to delay uncertainties. We illustrate the merit of this design with numerical simulation of a prey-predator population dynamics.

Domaines: Automatique / Robotique

Delphine Bresch-Pietri, Nicolas Petit, Miroslav Krstic. Prediction-based control for nonlinear state-and input-delay systems with the aim of delay-robustness analysis. CDC 2015 - 54th IEEE Conference on Decision and Control, Dec 2015, Osaka, Japan. pp.6403-6409. ⟨hal-01251623⟩