Switching strategy in tracking constant references for linear time-varying delay systems with actuator failures

ABSTRACT Tracking of command constant references is a tracking control problem of fundamental importance. This problem for linear time-varying delay systems in the presence of actuator failures is solved in this article. The linear time-varying delay system with actuator failures is modelled as a switched linear time-varying delay system by utilising switching systems theory and a suitable control scheme. The polytopic technique is employed in order to cope with the time-varying, delay-derivative term in case its absolute value might exceed one. On the grounds of the average dwell-time approach, a switching tracking control law that is immune to actuator failures is designed and the conditions are derived such that the output of the linear time-varying delay system tracks given constant command references. Two illustrative examples along with the respective numerical and simulation results are presented to demonstrate the effectiveness of the proposed method.

[1]  Said Oucheriah,et al.  Robust tracking and model following of uncertain dynamic delay systems by memoryless linear controllers , 1999, IEEE Trans. Autom. Control..

[2]  Jun Zhao,et al.  On stability, L2-gain and Hinfinity control for switched systems , 2008, Autom..

[3]  Hai Lin,et al.  Effects of Mixed-Modes on the Stability Analysis of Switched Time-Varying Delay Systems , 2016, IEEE Transactions on Automatic Control.

[4]  Bor-Sen Chen,et al.  Fuzzy tracking control design for nonlinear dynamic systems via T-S fuzzy model , 2001, IEEE Trans. Fuzzy Syst..

[5]  Christopher I. Byrnes.  An introduction to linear control systems , 1982 .

[6]  H M Bagherpoor,et al.  Robust model reference adaptive output feedback tracking for uncertain linear systems with actuator fault based on reinforced dead-zone modification. , 2015, ISA transactions.

[7]  W. Wolovich,et al.  Output regulation and tracking in linear multivariable systems , 1978, 1978 IEEE Conference on Decision and Control including the 17th Symposium on Adaptive Processes.

[8]  Xiaoli Ma,et al.  Adaptive state feedback and tracking control of systems with actuator failures , 2001, IEEE Trans. Autom. Control..

[9]  Richard E. DeVor,et al.  Analytical Stability Analysis of Variable Spindle Speed Machining , 2000 .

[10]  Jun Zhao,et al.  Adaptive fuzzy tracking control of switched uncertain nonlinear systems with unstable subsystems , 2015, Fuzzy Sets Syst..

[11]  Jie Chen,et al.  Robust Model-Based Fault Diagnosis for Dynamic Systems , 1998, The International Series on Asian Studies in Computer and Information Science.

[12]  T.L. Song.  Target adaptive guidance for passive homing missiles , 1997, IEEE Transactions on Aerospace and Electronic Systems.

[13]  Z. Qu,et al.  Robust tracking control of robots by a linear feedback law , 1991 .

[14]  J. Jiang,et al.  Reliable State Feedback Control System Design Against Actuator Failures , 1998, Autom..

[15]  Uri Shaked,et al.  Two-degree-of-freedom H/sub infinity /-optimization of multivariable feedback systems , 1991 .

[16]  Behçet Açikmese,et al.  Robust output tracking for uncertain/nonlinear systems subject to almost constant disturbances , 2002, Autom..

[17]  Georgi M. Dimirovski,et al.  Categories in systems and control theory , 1977 .

[18]  Shaocheng Tong,et al.  Adaptive fuzzy decentralized tracking fault-tolerant control for stochastic nonlinear large-scale systems with unmodeled dynamics , 2014, Inf. Sci..

[19]  Heinz Unbehauen,et al.  Robust Hinfinity observer design of linear state delayed systems with parametric uncertainty: the discrete-time case , 1999, Autom..

[20]  Jun Zhao,et al.  Robust tracking control for switched linear systems with time-varying delays , 2008, 2008 American Control Conference.

[21]  A. Morse,et al.  Stability of switched systems with average dwell-time , 1999, Proceedings of the 38th IEEE Conference on Decision and Control (Cat. No.99CH36304).

[22]  Tong Heng Lee,et al.  HinftyOutput Tracking Control for Nonlinear Systems via T-S Fuzzy Model Approach , 2006, IEEE Trans. Syst. Man Cybern. Part B.

[23]  Claudio Melchiorri,et al.  Control schemes for teleoperation with time delay: A comparative study , 2002, Robotics Auton. Syst..

[24]  Robert J. Veillette,et al.  Reliable linear-quadratic state-feedback control , 1995, Autom..

[25]  Wei Chen,et al.  Network-based H∞ output tracking control for systems with time-varying bounded delay , 2011, Proceedings 2011 International Conference on Transportation, Mechanical, and Electrical Engineering (TMEE).

[26]  Qing-Long Han,et al.  On Designing Time-Varying Delay Feedback Controllers for Master–Slave Synchronization of Lur'e Systems , 2007, IEEE Transactions on Circuits and Systems I: Regular Papers.

[27]  Mansour A. Karkoub,et al.  H∞ fuzzy adaptive tracking control design for nonlinear systems with output delays , 2014, Fuzzy Sets Syst..

[28]  Peng Shi,et al.  Output tracking control of networked control systems via delay compensation controllers , 2015, Autom..

[29]  James Lam,et al.  A new delay system approach to network-based control , 2008, Autom..

[30]  Guang-Hong Yang,et al.  Adaptive Fault-Tolerant Tracking Control Against Actuator Faults With Application to Flight Control , 2006, IEEE Transactions on Control Systems Technology.

[31]  Vladimir L. Kharitonov,et al.  Stability of Time-Delay Systems , 2003, Control Engineering.

[32]  E. Davison.  The robust control of a servomechanism problem for linear time-invariant multivariable systems , 1976 .

[33]  N. Zheng,et al.  Fuzzy $H_{\infty}$ Tracking Control for Nonlinear Networked Control Systems in T–S Fuzzy Model , 2009, IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics).

[34]  Huijun Gao,et al.  Network-Based ${{\cal H}}_{\!\!\!\infty }$ Output Tracking Control , 2008, IEEE Transactions on Automatic Control.

[35]  Jun Zhao,et al.  On stability, L 2 -gain and H 8 control for switched systems , 2008 .

[36]  B. R. Barmish,et al.  Robust asymptotic tracking for linear systems with unknown parameters , 1986, Autom..

[37]  Rolf Isermann,et al.  Model-based fault-detection and diagnosis - status and applications , 2004, Annu. Rev. Control..

[38]  H. Trinh,et al.  Output tracking for linear uncertain time-delay systems , 1996 .

[39]  Jianliang Wang,et al.  Reliable robust flight tracking control: an LMI approach , 2002, IEEE Trans. Control. Syst. Technol..

[40]  Guo-Ping Liu,et al.  Stability of Systems With Controller Failure and Time-Varying Delay , 2008, IEEE Transactions on Automatic Control.

[41]  Mingyue Cui,et al.  Output feedback tracking control of stochastic Lagrangian systems and its application , 2014, Autom..

[42]  Georgi M. Dimirovski,et al.  Vuk and Georgi: An adventure into active systems via mechatronics, robotics and manufacturing engineering , 2013, 2013 IEEE 11th International Symposium on Intelligent Systems and Informatics (SISY).

[43]  Christopher I. Byrnes,et al.  Output regulation for nonlinear systems: an overview , 1998, Proceedings of the 37th IEEE Conference on Decision and Control (Cat. No.98CH36171).

[44]  N.H. McClamroch,et al.  Performance benefits of hybrid control design for linear and nonlinear systems , 2000, Proceedings of the IEEE.