Predictor Feedback: Time-Varying, Adaptive, and Nonlinear

Abstract

AbstractWe present a tutorial introduction to methods for stabilization of systems with long input delays—the so-called “predictor feedback” techniques. The methods are based on techniques originally developed for boundary control of partial differential equations using the “backstepping” approach. We start with a consideration of linear systems, first with a known delay and then subject to a small uncertainty in the delay. Then we study linear systems with constant delays that are completely unknown, which requires an adaptive control approach. For linear systems, we also present a method for compensating arbitrarily large but known time-varying delays. Next, we consider nonlinear control problems in the presence of arbitrarily long input delays. Finally, we close with a design for general nonlinear systems with delays that have a general dependency on the system state.KeywordsAutomatic ControlControl LetterInput DelaySmith PredictorAdaptive Control ApproachThese keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.