Robust H_∞ control of uncertain systems with two additive time-varying delays

This paper is concerned with the problem of delay-dependent robust H∞control for a class of uncertain systems with two additive time-varying delays. A new suitable Lyapunov–Krasovskii functional（LKF） with triple integral terms is constructed and a tighter upper bound of the derivative of the LKF is derived. By applying a convex optimization technique, new delay-dependent robust H∞stability criteria are derived in terms of linear matrix inequalities（LMI）. Based on the stability criteria, a state feedback controller is designed such that the closed-loop system is asymptotically stable.Finally, numerical examples are given to illustrate the effectiveness of the proposed method. Comparison results show that our results are less conservative than the existing methods.

Absolute Stability of Nonlinear Systems with Two Additive Time-varying Delay Components

In this paper, we present a new sufficient condition for absolute stability of Lure system with two additive time-varying delay components. This criterion is expressed as a set of linear matrix inequalities （LMIs）, which can be readily tested by using standard numerical software. We use this new criterion to stabilize a class of nonlinear time-delay systems. Some numerical examples are given to illustrate the applicability of the results using standard numerical software.

Stability Analysis of Discrete-time Systems with Additive Time-varying Delays

In this paper, the problem of stability analysis of discrete-time delay systems with two additive time-varying delays is considered. A new stability result is derived for a general class of delay systems which has practical application background in networked control systems . The stability criterion is expressed in the form of linear matrix inequalities （LMIs）, which can be readily solved by using standard numerical software. An illustrative example is provided to show the advantage of the proposed stability condition.

Delay Dependent Robust Stability of Singular Systems with Additive Time-varying Delays

This paper considers the problem of delay-dependent robust stability for uncertain singular systems with additive time-varying delays. The purpose of the robust stability problem is to give conditions such that the uncertain singular system is regular, impulse free, and stable for all admissible uncertainties. The results are expressed in terms of linear matrix inequalities （LMIs）. Finally, two numerical examples are provided to illustrate the effectiveness of the proposed method.

A Stability Criterion for Singular Systems with Two Additive Time-varying Delay Components

The problem of stability for singular systems with two additive time-varying delay components is investigated. By constructing a simple type of Lyapunov-Krasovskii functional and utilizing free matrix variables in approximating certain integral quadratic terms, a delay-dependent stability criterion is established for the considered systems to be regular, impulse free, and stable in terms of linear matrix inequalities （LMIs）. Based on this criterion, some new stability conditions for singular systems with a single delay in a range and regular systems with two additive time-varying delay components are proposed. These developed results have advantages over some previous ones in that they have fewer matrix variables yet less conservatism. Finally, two numerical examples are employed to illustrate the effectiveness of the obtained theoretical results.

Position Measurement Based Slave Torque Feedback Control for Teleoperation Systems With Time-Varying Communication Delays

Bilateral teleoperation system is referred to as a promising technology to extend human actions and intelligence to manipulating objects remotely.For the tracking control of teleoperation systems,velocity measurements are necessary to provide feedback information.However,due to hardware technology and cost constraints,the velocity measurements are not always available.In addition,the time-varying communication delay makes it challenging to achieve tracking task.This paper provides a solution to the issue of real-time tracking for teleoperation systems,subjected to unavailable velocity signals and time-varying communication delays.In order to estimate the velocity information,immersion and invariance(I&I)technique is employed to develop an exponential stability velocity observer.For the proposed velocity observer,a linear relationship between position and observation state is constructed,through which the need of solving partial differential and certain integral equations can be avoided.Meanwhile,the mean value theorem is exploited to separate the observation error terms,and hence,all functions in our observer can be analytically expressed.With the estimated velocity information,a slave-torque feedback control law is presented.A novel Lyapunov-Krasovskii functional is constructed to establish asymptotic tracking conditions.In particular,the relationship between the controller design parameters and the allowable maximum delay values is provided.Finally,simulation and experimental results reveal that the proposed velocity observer and controller can guarantee that the observation errors and tracking error converge to zero.

Stochastic Resonance-Like and Resonance Suppression-Like Phenomena in a Bistable System with Time Delay and Additive Noise

Stochastic resonance (SR)-like and resonance suppression (RS)-like phenomena in a time-delayed bistable system driven by additive white noise are investigated by means of stochastic simulations of the power spectrum,the quality factor of the power spectrum,and the mean first-passage time (MFPT) of the system.The cal culative results indicate that:(i) as the system is driven by a small periodic signal,the quality factor as a function delay time exhibits a maximal value at smaller noise intensities,i.e.,an SR-like phenomenon.With the increment in additive noise inteusity,the extremum gradually disappears and the quality factor decreases monotonously with delay time.(ii) As the additive noise intensity is smaller,the curve of the MFPT with respect to delay time displays a peak,i.e.,an RS-like phenomenon.At higher levels of noise,however,the non-monotonic behavior is lost.

Stability Analysis of Network Controlled Temperature Control System with Additive Delays

This paper presents,using Lyapunov-Krasovskii functional technique combined with reciprocal convex lemma is considered for a networked control temperature control system with additive time-varying-delays.In the stability analysis,a new LK functional is assumed,and take the time-derivative of the(LK)functional,using reciprocal convex combination technique was employed to obtain less conservative stability criteria.Finally,the proposed stability analysis culminates into a stability criterion in the LMI(linear matrix inequalities)framework.The results obtained are in accordance with the theoretically obtained in the temperature control system and they are closer to the standard benchmark temperature-control system.

SAMPLED-DATA STATE ESTIMATION FOR NEURAL NETWORKS WITH ADDITIVE TIME–VARYING DELAYS

In this paper, we consider the problem of delay-dependent stability for state estimation of neural networks with two additive time–varying delay components via sampleddata control. By constructing a suitable Lyapunov–Krasovskii functional with triple and four integral terms and by using Jensen's inequality, a new delay-dependent stability criterion is derived in terms of linear matrix inequalities(LMIs) to ensure the asymptotic stability of the equilibrium point of the considered neural networks. Instead of the continuous measurement,the sampled measurement is used to estimate the neuron states, and a sampled-data estimator is constructed. Due to the delay-dependent method, a significant source of conservativeness that could be further reduced lies in the calculation of the time-derivative of the Lyapunov functional. The relationship between the time-varying delay and its upper bound is taken into account when estimating the upper bound of the derivative of Lyapunov functional. As a result, some less conservative stability criteria are established for systems with two successive delay components. Finally, numerical example is given to show the superiority of proposed method.

Stochastic Resonance for a Time-Delayed Metapopulation System Driven by Multiplicative and Additive Noises

The stochastic resonance(SR)phenomenon induced by the periodic signal in a metapopulation system which is driven by noises and contains a time delay is investigated.Under the condition of small delay time,the analytical expression of signal-to-noise ratio(SNR)is derived in the adiabatic limit.Via numerical calculations,each effect of the additive noise intensity,the multiplicative noise intensity and the delay time upon the SNR is discussed,respectively.It is shown that both the additive noise intensity and the multiplicative noise intensity can play a role in restraining the SR phenomenon,and for the additive noise,even a very small intensity can excite the SR phenomenon.For the delay time,the different role upon the SR phenomenon is discovered finally.

ADDITIVE HAZARDS MODEL WITH TIME-VARYING REGRESSION COEFFICIENTS

This article discusses regression analysis of failure time under the additive hazards model, when the regression coefficients are time-varying. The regression coefficients are estimated locally based on the pseudo-score function [12] in a window around each time point. The proposed method can be easily implemented, and the resulting estimators are shown to be consistent and asymptotically normal with easily estimated variances. The simulation studies show that our estimation procedure is reliable and useful.

New criterion for delay-dependent absolute stability of Lurie system with interval time-varying delay

The delay-dependent absolute stability for a class of Lurie systems with interval time-varying delay is studied. By employing an augmented Lyapunov functional and combining a free-weighting matrix approach and the reciprocal convex technique, an improved stability condition is derived in terms of linear matrix inequalities （LMIs）. By retaining some useful terms that are usually ignored in the derivative of the Lyapunov function, the proposed sufficient condition depends not only on the lower and upper bounds of both the delay and its derivative, but it also depends on their differences, which has wider application fields than those of present results. Moreover, a new type of equality expression is developed to handle the sector bounds of the nonlinear function, which achieves fewer LMIs in the derived condition, compared with those based on the convex representation. Therefore, the proposed method is less conservative than the existing ones. Simulation examples are given to demonstrate the validity of the approach.

Novel Stability Criteria for Linear Time-Delay Systems Using Lyapunov-Krasovskii Functionals With A Cubic Polynomial on Time-Varying Delay

One of challenging issues on stability analysis of time-delay systems is how to obtain a stability criterion from a matrix-valued polynomial on a time-varying delay.The first contribution of this paper is to establish a necessary and sufficient condition on a matrix-valued polynomial inequality over a certain closed interval.The degree of such a matrix-valued polynomial can be an arbitrary finite positive integer.The second contribution of this paper is to introduce a novel LyapunovKrasovskii functional,which includes a cubic polynomial on a time-varying delay,in stability analysis of time-delay systems.Based on the novel Lyapunov-Krasovskii functional and the necessary and sufficient condition on matrix-valued polynomial inequalities,two stability criteria are derived for two cases of the time-varying delay.A well-studied numerical example is given to show that the proposed stability criteria are of less conservativeness than some existing ones.

Consensus of high-order dynamic multi-agent systems with switching topology and time-varying delays

This paper studies the consensus problems for a group of agents with switching topology and time-varying communication delays, where the dynamics of agents is modeled as a high-order integrator. A linear distributed consensus protocol is proposed, which only depends on the agent＇s own information and its neighbors＇ partial information. By introducing a decomposition of the state vector and performing a state space transformation, the closed-loop dynamics of the multi-agent system is converted into two decoupled subsystems. Based on the decoupled subsystems, some sufficient conditions for the convergence to consensus are established, which provide the upper bounds on the admissible communication delays. Also, the explicit expression of the consensus state is derived. Moreover, the results on the consensus seeking of the group of high-order agents have been extended to a network of agents with dynamics modeled as a completely controllable linear time-invariant system. It is proved that the convergence to consensus of this network is equivalent to that of the group of high-order agents. Finally, some numerical examples are given to demonstrate the effectiveness of the main results.

A new reduction-based LQ control for dynamic systems with a slowly time-varying delay

Time delays in the feedback control often dete- riorate the control performance or even cause the instability of a dynamic system. This paper presents a control strategy for the dynamic system with a constant or a slowly time-varying input delay based on a transformation, which sire-plifies the time-delay system the relation is discussed for into a delay-free one. Firstly, two existing reduction-based linear quadratic controls. One is continuous and the other is discrete. By extending the relation, a new reduction-based control is then developed with a numerical algorithm presented for practical control implementation. The controller suggested by the proposed method has such a promising property that it can be used for the cases of different values of an input time delay without redesign of controller. This property provides the potential for stabilizing the dynamic system with a time-varying input delay. Consequently, the application of the proposed method to the dynamic system with a slowly time-varying delay is discussed. Finally, numerical simulations are given to show the efficacy and the applicability of the method.

Guaranteed Cost Consensus for High-dimensional Multi-agent Systems With Time-varying Delays

Guaranteed cost consensus analysis and design problems for high-dimensional multi-agent systems with time varying delays are investigated. The idea of guaranteed cost con trol is introduced into consensus problems for high-dimensiona multi-agent systems with time-varying delays, where a cos function is defined based on state errors among neighboring agents and control inputs of all the agents. By the state space decomposition approach and the linear matrix inequality(LMI)sufficient conditions for guaranteed cost consensus and consensu alization are given. Moreover, a guaranteed cost upper bound o the cost function is determined. It should be mentioned that these LMI criteria are dependent on the change rate of time delays and the maximum time delay, the guaranteed cost upper bound is only dependent on the maximum time delay but independen of the Laplacian matrix. Finally, numerical simulations are given to demonstrate theoretical results.

Robust Stability and Stabilization of Discrete Singular Systems with Interval Time-varying Delay and Linear Fractional Uncertainty

The robust stability and robust stabilization problems for discrete singular systems with interval time-varying delay and linear fractional uncertainty are discussed. A new delay-dependent criterion is established for the nominal discrete singular delay systems to be regular, causal and stable by employing the linear matrix inequality （LMI） approach. It is shown that the newly proposed criterion can provide less conservative results than some existing ones. Then, with this criterion, the problems of robust stability and robust stabilization for uncertain discrete singular delay systems are solved, and the delay-dependent LMI conditions are obtained. Finally, numerical examples are given to illustrate the effectiveness of the proposed approach.

Adaptive Variable Structure Control of MIMO Nonlinear Systems with Time-varying Delays and Unknown Dead-zones

In this paper, adaptive variable structure neural control is presented for a class of uncertain multi-input multi-output （MIMO） nonlinear systems with state time-varying delays and unknown nonlinear dead-zones. The unknown time-varying delay uncer- tainties are compensated for using appropriate Lyapunov-Krasovskii functionals in the design. The approach removes the assumption of linear function outside the deadband without necessarily constructing a dead-zone inverse as an added contribution. By utilizing the integral-type Lyapunov function and introducing an adaptive compensation term for the upper bound of the residual and optimal approximation error as well as the dead-zone disturbance, the closed-loop control system is proved to be semi-globally uniformly ultimately bounded. In addition, a modified adaptive control algorithm is given in order to avoid the high-frequency chattering phenomenon. Simulation results demonstrate the effectiveness of the approach.

Observer-based Adaptive Iterative Learning Control for Nonlinear Systems with Time-varying Delays

An observer-based adaptive iterative learning control （AILC） scheme is developed for a class of nonlinear systems with unknown time-varying parameters and unknown time-varying delays. The linear matrix inequality （LMI） method is employed to design the nonlinear observer. The designed controller contains a proportional-integral-derivative （PID） feedback term in time domain. The learning law of unknown constant parameter is differential-difference-type, and the learning law of unknown time-varying parameter is difference-type. It is assumed that the unknown delay-dependent uncertainty is nonlinearly parameterized. By constructing a Lyapunov-Krasovskii-like composite energy function （CEF）, we prove the boundedness of all closed-loop signals and the convergence of tracking error. A simulation example is provided to illustrate the effectiveness of the control algorithm proposed in this paper.

Input-output approach to robust stability and stabilization for uncertain singular systems with time-varying discrete and distributed delays

Based on input-output approach, the robust stability and stabilization problems for uncertain singular systems with time-varying delays are investigated. The parameter uncertainties are assumed to be norm-bounded and the time-varying delays include both discrete delay and distributed delay. By introducing a new input-output model, the time-delay system is embedded in a family of systems with a forward system without time delay and a dynamical feedback uncertainty. A sufficient and necessary condition, which guarantees the system regular, impulse-free and stable for all admissible uncertainties, is obtained. Based on the strict linear matrix inequality, the desired robust state feedback controller is also obtained. Finally, a numerical example is provided to demonstrate the application of the proposed method.