Stability Analysis of Control Systems subject to Delay-Difference Feedback

Chi Jin (1) , Silviu-Ilian Niculescu (1, 2) , Islam Boussaada (1, 3, 2) , Keqin Gu (4)

1 L2S - Laboratoire des signaux et systèmes
2 DISCO - Dynamical Interconnected Systems in COmplex Environments
3 IPSA - Institut Polytechnique des Sciences Avancées
4 SIUE - Southern Illinois University [Edwardsville]

In engineering practice delay-difference is often used to approximate the derivatives of output signals for feedback control, which leads to a closed-loop system with delay both in the states and in the system coefficients. Our objective is to find all the delay values below some upper bound that guarantee the exponential stability of the closed-loop system subject to the delay-difference approximation. A method for stability analysis of systems with delay-dependent coefficients developed in our previous work is extended and applied for the systems considered in this paper. The proposed stability analysis procedure is demonstrated through the design of a mobile-robot path-following controller.

Mots clés: Time-Delay Systems; Stability Analysis; Delay-dependent Coefficients; τ-decomposition Approach

Domaines: Automatique / Robotique; Systèmes dynamiques [math.DS]

Chi Jin, Silviu-Ilian Niculescu, Islam Boussaada, Keqin Gu. Stability Analysis of Control Systems subject to Delay-Difference Feedback. IFAC 2017 - 20th World Congress of the International Federation of Automatic Control, Jul 2017, Toulouse, France. pp.13330 - 13335, ⟨10.1016/j.ifacol.2017.08.1894⟩. ⟨hal-01656727⟩