Independent-of-delay stability of nonlinear networked control systems by scattering transformation

Tilemachos Matiakis; Sandra Hirche; Martin Buss

doi:10.1109/acc.2006.1656648

Independent-of-delay stability of nonlinear networked control systems by scattering transformation

Tilemachos Matiakis, Sandra Hirche, Martin Buss

Chair of Automatic Control Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

33 Scopus citations

Abstract

In this paper a novel stability condition is derived for nonlinear networked control systems (NCS) with arbitrarily large constant time delay. The proposed approach is based on input-output models of the subsystems and the scattering transformation, well-known from teleoperation systems analysis with time delay. Passivity of the subsystems has been a prerequisite for guaranteed stability in systems using the scattering transformation. In this paper, the approach is extended to non-passive, non-linear subsystems. The main idea is the compensation of the non-passivity of the plant by excess of passivity of the controller and vice-versa. A numerical example demonstrates that even unstable plants can independently of the constant delay be stabilized over the network.

Original language	English
Title of host publication	Proceedings of the 2006 American Control Conference
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	2801-2806
Number of pages	6
ISBN (Print)	1424402107, 9781424402106
DOIs	https://doi.org/10.1109/acc.2006.1656648
State	Published - 2006
Event	2006 American Control Conference - Minneapolis, MN, United States Duration: 14 Jun 2006 → 16 Jun 2006

Publication series

Name	Proceedings of the American Control Conference
Volume	2006
ISSN (Print)	0743-1619

Conference

Conference	2006 American Control Conference
Country/Territory	United States
City	Minneapolis, MN
Period	14/06/06 → 16/06/06

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10.1109/acc.2006.1656648

Cite this

Matiakis, T., Hirche, S., & Buss, M. (2006). Independent-of-delay stability of nonlinear networked control systems by scattering transformation. In Proceedings of the 2006 American Control Conference (pp. 2801-2806). Article 1656648 (Proceedings of the American Control Conference; Vol. 2006). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/acc.2006.1656648

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title = "Independent-of-delay stability of nonlinear networked control systems by scattering transformation",

abstract = "In this paper a novel stability condition is derived for nonlinear networked control systems (NCS) with arbitrarily large constant time delay. The proposed approach is based on input-output models of the subsystems and the scattering transformation, well-known from teleoperation systems analysis with time delay. Passivity of the subsystems has been a prerequisite for guaranteed stability in systems using the scattering transformation. In this paper, the approach is extended to non-passive, non-linear subsystems. The main idea is the compensation of the non-passivity of the plant by excess of passivity of the controller and vice-versa. A numerical example demonstrates that even unstable plants can independently of the constant delay be stabilized over the network.",

author = "Tilemachos Matiakis and Sandra Hirche and Martin Buss",

year = "2006",

doi = "10.1109/acc.2006.1656648",

language = "English",

isbn = "1424402107",

series = "Proceedings of the American Control Conference",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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note = "2006 American Control Conference ; Conference date: 14-06-2006 Through 16-06-2006",

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Matiakis, T, Hirche, S & Buss, M 2006, Independent-of-delay stability of nonlinear networked control systems by scattering transformation. in Proceedings of the 2006 American Control Conference., 1656648, Proceedings of the American Control Conference, vol. 2006, Institute of Electrical and Electronics Engineers Inc., pp. 2801-2806, 2006 American Control Conference, Minneapolis, MN, United States, 14/06/06. https://doi.org/10.1109/acc.2006.1656648

Independent-of-delay stability of nonlinear networked control systems by scattering transformation. / Matiakis, Tilemachos; Hirche, Sandra ; Buss, Martin.
Proceedings of the 2006 American Control Conference. Institute of Electrical and Electronics Engineers Inc., 2006. p. 2801-2806 1656648 (Proceedings of the American Control Conference; Vol. 2006).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Independent-of-delay stability of nonlinear networked control systems by scattering transformation

AU - Matiakis, Tilemachos

AU - Hirche, Sandra

AU - Buss, Martin

PY - 2006

Y1 - 2006

N2 - In this paper a novel stability condition is derived for nonlinear networked control systems (NCS) with arbitrarily large constant time delay. The proposed approach is based on input-output models of the subsystems and the scattering transformation, well-known from teleoperation systems analysis with time delay. Passivity of the subsystems has been a prerequisite for guaranteed stability in systems using the scattering transformation. In this paper, the approach is extended to non-passive, non-linear subsystems. The main idea is the compensation of the non-passivity of the plant by excess of passivity of the controller and vice-versa. A numerical example demonstrates that even unstable plants can independently of the constant delay be stabilized over the network.

AB - In this paper a novel stability condition is derived for nonlinear networked control systems (NCS) with arbitrarily large constant time delay. The proposed approach is based on input-output models of the subsystems and the scattering transformation, well-known from teleoperation systems analysis with time delay. Passivity of the subsystems has been a prerequisite for guaranteed stability in systems using the scattering transformation. In this paper, the approach is extended to non-passive, non-linear subsystems. The main idea is the compensation of the non-passivity of the plant by excess of passivity of the controller and vice-versa. A numerical example demonstrates that even unstable plants can independently of the constant delay be stabilized over the network.

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SN - 9781424402106

T3 - Proceedings of the American Control Conference

SP - 2801

EP - 2806

BT - Proceedings of the 2006 American Control Conference

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2006 American Control Conference

Y2 - 14 June 2006 through 16 June 2006

ER -

Independent-of-delay stability of nonlinear networked control systems by scattering transformation

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