Robust Stabilization of a Class of Nonlinear Systems Controlled Over Communication Networks
Gilberto Pin, Gianfranco Fenu, Vittorio Casagrande, Davide Zorzenon, Thomas Parisini
Abstract
The article deals with the stabilization of nonlinear systems in which the loop is closed over a lossy nonacknowledged communication network. Given a regional input-to-state (ISS) stabilizing state-feedback control law, designed without accounting for the network-induced delays, we propose a nonacknowledged communication policy that allows to deploy the above controller over the network without any modification, while preserving the regional ISS property. The time-varying delays and packet dropouts occurring on both the uplink and the downlink are compensated through a model-based prediction scheme and a packet-management policy based on time-stamping. The consistency of the prediction, which is a major issue in the context of nonlinear systems with an embedded networked controller, is guaranteed through the exploitation of a novel move-blocking strategy for computing the command sequence to be forwarded to the actuators.