arXiv subjects

Andreas Katsanikakis

Publications and source records attributed to Andreas Katsanikakis.

4 recordsLinked to original sources

arXiv2026

Predictor-Feedback Stabilization of Linear Switched Systems with State-Dependent Switching and Input Delay

We develop a predictor-feedback control design for a class of linear systems with state-dependent switching. The main ingredient of our design is a novel construction of an exact predictor state. Such a construction is possible as for a given, state-dependent switching rule, an implementable formula for the predictor state can be derived in a way analogous to the case of nonlinear systems with input delay. We establish uniform exponential stability of the corresponding closed-loop system via a novel construction of multiple Lyapunov functionals, relying on a backstepping transformation that we introduce. We validate our design in simulation considering a switching rule motivated by communication networks.

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arXiv2026

Stabilization of Linear Switched Systems with Long Constant Input Delay via Average or Averaging Predictor Feedbacks

We develop delay-compensating feedback laws for linear switched systems with time-dependent switching. Because the future values of the switching signal, which are needed for constructing an exact predictor-feedback law, may be unavailable at current time, the key design challenge is how to construct a proper predictor state. We resolve this challenge constructing two alternative, average predictor-based feedback laws. The first is viewed as a predictor-feedback law for a particular average system, properly modified to provide exact state predictions over a horizon that depends on a minimum dwell time of the switching signal (when it is available). The second is, essentially, a modification of an average of predictor feedbacks, each one corresponding to the fixed-mode predictor-feedback law. We establish that under the control laws introduced, the closed-loop systems are (uniformly) exponentially stable, provided that the differences among system's matrices and among (nominal stabilizing) controller's gains are sufficiently small, with a size that is inversely proportional to the delay length. Since no restriction is imposed on the delay, such a limitation is inherent to the problem considered (in which the future switching signal values are unavailable), and thus, it cannot be removed. The stability proof relies on multiple Lyapunov functionals constructed via backstepping and derivation of solutions' estimates for quantifying the difference between average and exact predictor states. We present consistent numerical simulation results, which illustrate the necessity of employing the average predictor-based laws and demonstrate the performance improvement when the knowledge of a minimum dwell time is properly utilized for improving state prediction accuracy.

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arXiv2025

Input Delay Compensation for a Class of Switched Linear Systems via Averaging Exact Predictor Feedbacks

The key challenges in design of predictor-based control laws for switched systems with arbitrary switching and long input delay are the potential unavailability of the future values of the switching signal (at current time) and the fact that dwell time may be arbitrary. In the present paper, we resolve these challenges developing a new predictor-based control law that is, essentially, an average of exact predictor feedbacks, each one corresponding to an exact predictor-feedback law for a system that operates only in a single mode. Because the predictor state in our control design does not correspond to an exact predictor, stability can be guaranteed under a restriction on the differences among the system's matrices and controller's gains. This is an unavoidable limitation, for a switching signal whose future values may be unavailable, when no constraint is imposed on the values of delay and dwell time (as it is the case here). We establish (uniform) stability of the closed-loop system employing a Lyapunov functional. The key step in the stability proof is constructive derivation of an estimate of the mismatch between an exact predictor feedback and the average of predictor feedbacks constructed. We illustrate the performance of the proposed predictor-based control law in simulation, including comparisons with alternative, predictor-based control laws.

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arXiv2025

Average Predictor-Feedback Control Design for Switched Linear Systems

We develop an input delay-compensating feedback law for linear switched systems with time-dependent switching. Because the future values of the switching signal, which are needed for constructing an exact predictor-feedback law, may be unavailable at current time, the key design challenge is how to construct a proper predictor state. We resolve this challenge constructing an average predictor-based feedback law, which may be viewed as an exact predictor-feedback law for a particular average system without switching. We establish that, under the predictor-based control law introduced, the closed-loop system is exponentially stable, provided that the plant's parameters are sufficiently close to the corresponding parameters of the average system. In particular, the allowable difference is inversely proportional to the size of delay and proportional to the dwell time of the switching signal. Since no restriction is imposed on the size of delay or dwell time themselves, such a limitation on the parameters of each mode is inherent to the problem considered (in which no a priori information on the switching signal is available), and thus, it cannot be removed. The stability proof relies on two main ingredients-a Lyapunov functional constructed via backstepping and derivation of solutions' estimates for the difference between the average and the exact predictor states. We present consistent, numerical simulation results, which illustrate the necessity of employing the average predictor-based law for achieving stabilization and desired performance of the closed-loop system.

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