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Cross-Term Forwarding for Systems With Time Delay
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DOI：10.1109/TAC.2009.2012978.png)
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摘要
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This paper presents a Lyapunov-based control design method for nonlinear systems with time delay. The key step is construction of a composite Lyapunov functional V for a stable cascade. This functional consists of Lyapunov functionals for the subsystems and a cross-term defined by an infinite integral. The L-g V-type control law is then employed to achieve global asymptotic stability. The design procedure can be applied recursively to stabilize complex feedforward structures. When applied to a linear cascade, it gives a formula for the control law even if some parts of the system can only be stabilized through channels with multiple non-commensurate or distributed delays.
Keyword:
Forwarding
Lyapunov functionals
nonlinear systems
time delay
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期刊
IF:
7
论文数:
1.3W
被引数:
6.7W
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