Sequential Predictors for Uncertain Euler–Lagrange Systems with Large Transmission Delays
This paper investigates the state prediction problems for uncertain Euler–Lagrange systems with large time delays during data transmissions. A set of sequential predictors is proposed to estimate the actual real-time states of the systems by using the delayed information of measurements. The arbitra...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-03-01
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| Series: | Fractal and Fractional |
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| Online Access: | https://www.mdpi.com/2504-3110/7/3/244 |
| _version_ | 1797611577526976512 |
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| author | Shaobo Shen Liyue Fu Aiguo Song Tao Li |
| author_facet | Shaobo Shen Liyue Fu Aiguo Song Tao Li |
| author_sort | Shaobo Shen |
| collection | DOAJ |
| description | This paper investigates the state prediction problems for uncertain Euler–Lagrange systems with large time delays during data transmissions. A set of sequential predictors is proposed to estimate the actual real-time states of the systems by using the delayed information of measurements. The arbitrarily large delays are handled by applying adequate numbers of serial sub-predictors. Meanwhile, the novel prediction structure of each subsystem is designed to deal with nonlinearities and unknown dynamics in the systems. Then, the predictor design is extended to the case without using delayed velocity measurements by updating the structure of the first sub-predictor. Sufficient conditions for the design of predictor gains, ensuring the boundness of prediction errors, are obtained through Lyapunov–Krasovskii functionals. The effectiveness and robustness of the uncertainties of the proposed method are verified by comparative results in simulations. |
| first_indexed | 2024-03-11T06:30:41Z |
| format | Article |
| id | doaj.art-18f20f041938489697a8826862f3d3c1 |
| institution | Directory Open Access Journal |
| issn | 2504-3110 |
| language | English |
| last_indexed | 2024-03-11T06:30:41Z |
| publishDate | 2023-03-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Fractal and Fractional |
| spelling | doaj.art-18f20f041938489697a8826862f3d3c12023-11-17T11:12:20ZengMDPI AGFractal and Fractional2504-31102023-03-017324410.3390/fractalfract7030244Sequential Predictors for Uncertain Euler–Lagrange Systems with Large Transmission DelaysShaobo Shen0Liyue Fu1Aiguo Song2Tao Li3School of Microelectronics and Control Engineering, Changzhou University, Changzhou 213164, ChinaSchool of Automation and Electrical Engineering, Linyi University, Linyi 276000, ChinaSchool of Instrument Science and Engineering, Southeast University, Nanjing 210096, ChinaSchool of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, ChinaThis paper investigates the state prediction problems for uncertain Euler–Lagrange systems with large time delays during data transmissions. A set of sequential predictors is proposed to estimate the actual real-time states of the systems by using the delayed information of measurements. The arbitrarily large delays are handled by applying adequate numbers of serial sub-predictors. Meanwhile, the novel prediction structure of each subsystem is designed to deal with nonlinearities and unknown dynamics in the systems. Then, the predictor design is extended to the case without using delayed velocity measurements by updating the structure of the first sub-predictor. Sufficient conditions for the design of predictor gains, ensuring the boundness of prediction errors, are obtained through Lyapunov–Krasovskii functionals. The effectiveness and robustness of the uncertainties of the proposed method are verified by comparative results in simulations.https://www.mdpi.com/2504-3110/7/3/244Euler–Lagrange systemtime delaypredictorstate estimationtransmission delay |
| spellingShingle | Shaobo Shen Liyue Fu Aiguo Song Tao Li Sequential Predictors for Uncertain Euler–Lagrange Systems with Large Transmission Delays Fractal and Fractional Euler–Lagrange system time delay predictor state estimation transmission delay |
| title | Sequential Predictors for Uncertain Euler–Lagrange Systems with Large Transmission Delays |
| title_full | Sequential Predictors for Uncertain Euler–Lagrange Systems with Large Transmission Delays |
| title_fullStr | Sequential Predictors for Uncertain Euler–Lagrange Systems with Large Transmission Delays |
| title_full_unstemmed | Sequential Predictors for Uncertain Euler–Lagrange Systems with Large Transmission Delays |
| title_short | Sequential Predictors for Uncertain Euler–Lagrange Systems with Large Transmission Delays |
| title_sort | sequential predictors for uncertain euler lagrange systems with large transmission delays |
| topic | Euler–Lagrange system time delay predictor state estimation transmission delay |
| url | https://www.mdpi.com/2504-3110/7/3/244 |
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