Input delay compensation of linear systems with both state and input delays by nested prediction
Input delay compensation of linear systems with both state and input delays by nested prediction
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DOI：
10.1016/j.automatica.2014.03.010
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发表时间：
2014-05
期刊：
影响因子：
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通讯作者：
Bin Zhou
中科院分区：
文献类型：
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作者：
Bin Zhou
在本文中，我们考虑具有状态延迟和输入延迟的线性系统的输入延迟补偿。在没有输入延迟的开环时滞系统可以通过（延迟）状态反馈稳定的情况下，建立基于嵌套预测器的方法来预测未来状态，从而补偿输入中的延迟。结果表明，存在输入时延的补偿闭环系统与不存在输入时延的闭环系统具有相同的特征方程。所提出的方法可以推广到具有多个状态延迟和/或多个输入延迟的一般线性系统。为了通过应用数值积分方法来实现基于嵌套预测器的控制器，提出了一种通过添加输入滤波器来增强基于嵌套预测器的方法。两个数值例子证明了所提出方法的有效性。
In this paper we consider the input delay compensation of linear systems with both state and input delays. Under the condition that the open-loop time-delay systems in the absence of input delay can be stabilized by (delayed) state feedback, a nested predictor based approach is established to predict the future states so that the delays in the input are compensated. It is shown that the compensated closed-loop system in the presence of input delay possesses the same characteristic equation as the closed-loop system in the absence of input delay. The proposed approach can be generalized to general linear systems having multiple state delays and/or multiple input delays. To implement the nested predictor based controllers by applying numerical integration approaches, an augmented nested predictor based approach by adding input filters is proposed. Two numerical examples are worked out to show the effectiveness of the proposed approach.