Random Delay Compensation for Nonlinear Systems
Random Delay Compensation for Nonlinear Systems
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DOI：
10.2316/journal.205.2012.1.205-5607
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发表时间：
2012-01
影响因子：
3.1
通讯作者：
Jian Zhang;Yongpeng Zhang
中科院分区：
文献类型：
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作者：
Jian Zhang;Yongpeng Zhang
摘要研究了具有随机时滞的非线性系统的数字控制器设计问题。首先，对无时滞的非线性系统进行最优线性化。然后，基于该最优线性模型，通过线性二次型调节(LQR)设计了模拟状态反馈控制器，以在无时滞的情况下获得满意的性能。最后，应用了一种数字再设计的输入延迟补偿技术。所得到的数字控制器在存在随机输入延迟的情况下，既能保持模拟控制器的基本性能，又具有控制周期大、暂态控制信号小等易于实现的特点。通过对单级旋转倒立摆(SRIP)平衡控制的仿真和物理实验，验证了该方法的有效性。
Abstract This paper presents the digital controller design for nonlinear system with random delay. First, the delay-free nonlinear system is linearized through optimal linearization. Then, based on this optimal linear model, an analog state-feedback controller is designed via linear quadratic regulation (LQR) to achieve a satisfactory performance in the delay-free case. Lastly, an input delay compensation technique via digital redesign is applied. The resulting digital controller can maintain the essential performance of the analog counterpart in the presence of random input delay, and also possesses the features practical for implementation, like large control period and small control signal in the transient. The proposed method is verified by the simulation results on the balance control of single rotary inverted pendulum (SRIP) as well as the physical experiments.