Nested-Pseudo Predictor Feedback Based Input Delay Compensation for Time-Delay Control Systems
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摘要: 本文研究同时具有输入和状态时滞的控制系统的输入时滞补偿问题. 通过建立嵌套−伪预估器反馈方法预测系统未来的状态, 使得任意大但有界的输入时滞得到完全补偿. 不同于传统的预估器反馈利用开环系统预测系统未来的状态, 嵌套−伪预估器反馈则是利用闭环系统嵌套地预测系统未来的状态. 依据积分时滞系统的稳定性, 给出了保证闭环系统渐近稳定的充要条件. 最后, 采用数值仿真验证所提出方法的有效性.Abstract: This paper studies the input delay compensation of control systems with both state and input delays. A nested-pseudo predictor feedback is established to predict the future states such that the input delay that can be arbitrarily large yet bounded are compensated completely. Differently from the traditional predictor feedback which uses the open-loop system dynamics to predict the future state, nested-pseudo predictor feedback uses the closed-loop system dynamics to predict nestedly the future state. Necessary and sufficient conditions guaranteeing the stability of the closed-loop system are obtained in terms of the stability of integral delay systems. Finally, a numerical example is worked out to show the effectiveness of the proposed approach.
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图 1 系统(30)和(31)组成闭环系统的状态轨迹和控制信号
Fig. 1 State trajectories and control signals for the closed-loop system consisting of (30) and (31)
图 2 系统(30)和(32)组成闭环系统的状态轨迹和控制信号
Fig. 2 State trajectories and control signals for the closed-loop system consisting of (30) and (32)
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