Reduction-based stabilization of time-delay nonlinear dynamics

Mattia Mattioni (1) , Salvatore Monaco (1) , Dorothée Normand-Cyrot (2)

1 UNIROMA - Università degli Studi di Roma "La Sapienza" = Sapienza University [Rome]
2 L2S - Laboratoire des signaux et systèmes

This paper represents a first attempt toward an alternative way of computing reduction-based feedback à la Arstein for input-delayed systems. To this end, we first exhibit a new reduction state evolving as a new dynamics which is free of delays. Then, feedback design is carried out by enforcing passivity-based arguments in the reduction time-delay scenario. The case of strict-feedforward dynamics serves as a case study to discuss in details the computational advantages. A simulated exampled highlights performances.

Mots clés: Index Terms-Predictive control for nonlinear systems; Lyapunov methods; Delay systems

Domaines: Automatique / Robotique

Mattia Mattioni, Salvatore Monaco, Dorothée Normand-Cyrot. Reduction-based stabilization of time-delay nonlinear dynamics. 57th IEEE Conference on Decision and Control (CDC 2018), IEEE, Dec 2018, Miami Beach, FL, United States. pp.3471-3476, ⟨10.1109/CDC.2018.8619434⟩. ⟨hal-02058614⟩