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Pole assignment control design for time–varying time–delay systems using radial basis functions

Research output: Contribution in Book/Report/Proceedings - With ISBN/ISSNConference contribution/Paperpeer-review

Published
Publication date27/05/2022
Host publication2022 UKACC 13th International Conference on Control (CONTROL)
PublisherIEEE
Number of pages6
ISBN (Electronic)9781665452007
ISBN (Print)9781665452014
<mark>Original language</mark>English

Abstract

Systems with time-varying time delays present a particularly challenging control problem. They have been observed across a wide array of domains, from hydraulic actuators to insulin delivery control systems. Control systems that address system time-delays, nonlinearities and uncertainty are the subject of much research but, whilst the specific concept of varying time delays is sometimes acknowledged (for example in the control of hydraulic manipulators), this appears to be less widely investigated than some other types of nonlinearity. In part motivated by recent research into internal multi-model control, as similarly applied to systems with unknown time-varying delays, the present work utilises a Gaussian radial basis function to switch between two or more partial controllers. Each partial controller is based on a linear model with a (time-invariant) time delay. The new algorithm is developed and evaluated via simulation using a non-minimal state space (NMSS) framework, with pole assignment as the design criterion. Simulation results suggest that it yields improved performance in comparison to a simpler switching approach and the equivalent linear control system. However, laboratory examples and further research into robustness and stability is required in the next step.

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©2022 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.