Gain-Scheduled Predictive Extended State Observer for Time-varying Delays Systems with Mismatched Disturbances

[EN] In this paper, a novel control scheme for systems with input and output time-varying delays is provided in discrete-time domain. The control strategy combines predictor-like techniques with a delay-dependent gain-scheduled extended state observer. The main goal is twofold: (i) to minimize the negative effect of time-varying delays in the closed-loop performance and, (ii) to actively compensate the effect of mismatched disturbances in the controlled output. Moreover, a sufficient condition based on Linear Matrix Inequalities (LMI) is provided to obtain the maximum delay interval that ensures the stability of the closed-loop system. Finally, the achieved benefits of the proposal are shown by simulation in open-loop unstable plants, and experimentally validated in a test-bed quadrotor platform. (C) 2018 ISA. Published by Elsevier Ltd. All rights reserved.This work was supported in part by European Commission as part of Project H2020-SEC-2016-2017, Topic: SEC-20-BES-2016 Id: 740736 C2 Advanced Multi-domain Environment and Live Observation Technologies , in part by the Spanish Ministry of Economy, Industry, and Competition under Project TIN2017-86520-C3-1-R, in part by Universitat Politècnica de València under Project FPI-UPV 2017 PAID-01-17, and in part by Spanish Government/European Union Project DPI2015-69376-R (MINECO/FEDER).González Sorribes, A.; Balaguer Garín, V.; García Gil, PJ.; Cuenca, Á. (2019). Gain-Scheduled Predictive Extended State Observer for Time-varying Delays Systems with Mismatched Disturbances. ISA Transactions. 84:206-213. https://doi.org/10.1016/j.isatra.2018.09.0242062138