Design of Preview Controller for Linear Continuous-time Systems with Input Delay

다국어 초록 (Multilingual Abstract)

This paper makes it possible to design a preview controller for linear continuous-time systems with input delay, which expands the preview control theory. An augmented error system is established. And a variable substitution is used to transform the delay preview control system into a delay-free one whose preview controller uses the future value of the augmented state vector. The future value of the augmented state vector is estimated by the information of the current state vector, the control input on the past time window, and the reference signal on the future time window. Under the assumption of zero initial conditions, a simplified controller with both delay compensation and preview compensation is obtained for the original system. In addition, a preview controller with full-order observer is offered. Finally, simulation results are presented to illustrate the effectiveness and robustness of the controller.

참고문헌 (Reference)

1 G. Tadmor, "The standard H-infinity problem in systems with a single input delay" 45 (45): 382-397, 2000

2 A. W. Olbrot, "Stabilizability, detectability, and spectrum assignment for linear autonomous systems with general time delays" 23 (23): 887-890, 1978

3 E. Fridman, "Robust sampleddata stabilization of linear systems: an input delay approach" 40 (40): 1441-1446, 2004

4 F. Liao, "Preview control for impulse-free continuous-time descriptor systems" 88 (88): 1142-1149, 2015

5 T. Furukawa, "Predictive control for systems with time delay" 37 (37): 399-412, 1983

6 M. Hayase, "Optimal servosystem utilizing future value of desired function" 5 (5): 86-94, 1969

7 Y. Zhou, "Optimal feedback control for linear systems with input delays revisited" 163 (163): 989-1017, 2014

8 F. Cacace, "Optimal control of linear systems with large and variable input delays" 89 : 1-7, 2016

9 M. Basin, "Optimal control for linear systems with time delay in control input" 341 (341): 267-278, 2004

10 M. Basin, "Optimal control for linear systems with multiple time delays in control input" 51 (51): 91-97, 2006

11 W. Chen, "On convergent properties for states of nonhomogeneous linear systems" 18 : 1-3, 2003

12 J. O'Reilly, "Observers for Linear Systems" Academic Press 1983

13 H. Zhang, "Linear quadratic regulation for linear time-varying systems with multiple input delays" 42 (42): 1465-1476, 2006

14 E. Gershon, "H-infinity preview tracking control of retarded state-multiplicative stochastic systems" 24 (24): 2119-2135, 2014

15 A. Z. Manitius, "Finite spectrum assignment problem for systems with delays" 24 (24): 541-553, 1979

16 H.-X. Wang, "Finite horizon H-infinity preview control" 36 (36): 327-331, 2010

17 T. Katayama, "Design of an optimal servomechanism with preview action and its dual problem" 45 (45): 407-420, 1987

18 F. Liao, "Design of an optimal preview controller for continuous-time systems" 9 (9): 655-673, 2011

19 Y. Liao, "Design of a backstepping tracking controller for a class of linear systems with actuator delay" 2015 : 1-10, 2015

20 A. A. Bobtsov, "Compensation of unknown multiharmonic disturbances in nonlinear plants with delayed control" 71 (71): 2383-2394, 2010

21 F. Liao, "Application of the preview control method to the optimal tracking control problem for continuous-time systems with time-delay" 2015 : 1-8, 2015

22 H. Basturk, "Adaptive sinusoidal disturbance cancellation for unknown LTI systems despite input delay" 58 : 131-138, 2015

23 K. Watanabe, "A process-model control for linear systems with delay" 26 (26): 1261-1269, 1981