Global stabilization of linear systems subject to input saturation and time delays |
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| Authors: | Jiawei Wu Ling Huang |
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| Institution: | 1. Department of Physical Therapy and Rehabilitation Science, School of Medicine, University of Maryland, Baltimore, Maryland 21201, United States;2. Department of Biongineering, School of Engineering, University of Maryland, College Park, Maryland 20742, United States;3. Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Bavaria 82234, Germany;1. Department of Electrical and Electronics Engineering, Shiraz University of Technology, Shiraz, Fars, Iran;2. Department of Power and Control Engineering, School of Electrical and Computer Engineering, Shiraz University, Shiraz, Fars, Iran;1. Fair Friend Institute of Intelligent Manufacturing, Hangzhou Vocational and Technical College, Hangzhou 310018, PR China;2. Institute of Information and Control, Hangzhou Dianzi University, Hangzhou 310018, PR China;1. School of Control Science and Engineering, Dalian University of Technology, Dalian 116024, PR China;2. College of Engineering, Bohai University, Jinzhou 121013, PR China;3. Department of Mechanical Engineering, Politecnico di Milano, Milan 20156, Italy;4. College of Automation, Faculty of Information Technology, Beijing University of Technology, Beijing 100124, PR China |
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| Abstract: | This note is concerned with global stabilization of linear systems subject to input saturation and time delays. Based on the Luenberger canonical form, two new decoupling methods are proposed. For the decoupled system, according to some special canonical forms, we propose two control laws for systems with input time-delays and systems with input saturation and time-delays, and give explicit conditions to ensure the global stability of the closed-loop system. Two special canonical forms contain time delays in input and state vectors, which is essential in recursive design. In addition, for the system subject to input saturation and time-delay, we introduce some free parameters when designing the controller, which can improve the instantaneous performance of the closed-loop system. Finally, the proposed approach is applied on the multi-agent system to design global stabilizing controllers and the effectiveness of the proposed controllers are illustrated by numerical simulations. |
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