Memoryless Dynamic Output-Feedback Stabilization for Discrete-Time Closed-Loop Robot Systems With Nonlinear Uncertainties and Multiple Time-Delays | Zendy

Wei Zheng | Zendy; Hong-Bin Wang | Zendy; Shu-Huan Wen | Zendy; Hong-Rui Wang | Zendy; Zhi-Ming Zhang | Zendy

Open Access

Memoryless Dynamic Output-Feedback Stabilization for Discrete-Time Closed-Loop Robot Systems With Nonlinear Uncertainties and Multiple Time-Delays

Author(s) -

Wei Zheng,

Hong-Bin Wang,

Shu-Huan Wen,

Hong-Rui Wang,

Zhi-Ming Zhang

Publication year - 2017

Publication title -

ieee access

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.587

H-Index - 127

ISSN - 2169-3536

DOI - 10.1109/access.2017.2727640

Subject(s) - aerospace , bioengineering , communication, networking and broadcast technologies , components, circuits, devices and systems , computing and processing , engineered materials, dielectrics and plasmas , engineering profession , fields, waves and electromagnetics , general topics for engineers , geoscience , nuclear engineering , photonics and electrooptics , power, energy and industry applications , robotics and control systems , signal processing and analysis , transportation

The dynamic output-feedback control problem is addressed for a class of nonlinear discrete uncertain systems with multiple time-delays. First, the system is decomposed into two subsystems based on the output and input matrix. Second, the compensator is designed for first the subsystem, and the output feedback controller is designed based on the second subsystem and compensator. Then, by choosing a Lyapunov-Krasovskii functional, we show that the developed controller makes the solutions of the closed-loop system exponentially convergent to a ball. Compared with previous work, the developed controller only depends on the system output. The design conditions of the controller are relaxed because of the proposed dynamic compensator. Furthermore, the results are extended to a general nonlinear system and a robot system. Finally, numerical examples are included to show the effectiveness of the theoretical results.

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