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Tracking Control for Sampled‐data Systems with Uncertain Time‐varying Sampling Intervals and Delays by N. van de Wouw; P. Naghshtabrizi; M. B. G. Cloosterman; J. P. Hespanha is a Engineering article available to read on EtoBox.

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## Abstract In this paper, a solution to the approximate tracking problem of sampled‐data systems with uncertain, time‐varying sampling intervals and delays is presented. Such time‐varying sampling intervals and delays can typically occur in the field of networked control systems. The uncertain, time‐varying sampling and network delays cause inexact feedforward, which induces a perturbation on the tracking error dynamics, for which a model is presented in this paper. Sufficient conditions for the input‐to‐state stability (ISS) of the tracking error dynamics with respect to this perturbation are given. Hereto, two analysis approaches are developed: a discrete‐time approach and an approach in terms of delay impulsive differential equations. These ISS results provide bounds on the steady‐state tracking error as a function of the plant properties, the control design and the network properties. Moreover, it is shown that feedforward preview can significantly improve the tracking performance and an online extremum seeking (nonlinear programming) algorithm is proposed to online estimate the optimal preview time. The results are illustrated on a mechanical motion control example showing th

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Author

N. van de Wouw; P. Naghshtabrizi; M. B. G. Cloosterman; J. P. Hespanha

Publisher

John Wiley and Sons; Wiley (John Wiley & Sons); John Wiley & Sons Inc.; Wiley (ISSN 1049-8923)

Published

2009

Language

EN

Field

Engineering (Physical Sciences)