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Robust Stabilization of a Class of Nonlinear Systems Controlled over Communication Networks

Pin, G; Fenu, G; Casagrande, V; Zorzenon, D; Parisini, T; (2021) Robust Stabilization of a Class of Nonlinear Systems Controlled over Communication Networks. IEEE Transactions on Automatic Control , 66 (7) pp. 3036-3051. 10.1109/TAC.2020.3021039. Green open access

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Abstract

The article deals with the stabilization of nonlinear systems in which the loop is closed over a lossy nonacknowledged communication network. Given a regional input-to-state (ISS) stabilizing state-feedback control law, designed without accounting for the network-induced delays, we propose a nonacknowledged communication policy that allows to deploy the above controller over the network without any modification, while preserving the regional ISS property. The time-varying delays and packet dropouts occurring on both the uplink and the downlink are compensated through a model-based prediction scheme and a packet-management policy based on time-stamping. The consistency of the prediction, which is a major issue in the context of nonlinear systems with an embedded networked controller, is guaranteed through the exploitation of a novel move-blocking strategy for computing the command sequence to be forwarded to the actuators.

Type: Article
Title: Robust Stabilization of a Class of Nonlinear Systems Controlled over Communication Networks
Open access status: An open access version is available from UCL Discovery
DOI: 10.1109/TAC.2020.3021039
Publisher version: http://dx.doi.org/10.1109/TAC.2020.3021039
Language: English
Additional information: This version is the author accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions.
UCL classification: UCL
UCL > Provost and Vice Provost Offices > UCL BEAMS
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Electronic and Electrical Eng
URI: https://discovery.ucl.ac.uk/id/eprint/10133916
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