Time Delay Control Theory and Applications

本研究项目涉及线性和非线性系统的时滞控制理论的设计和实现。该技术将参数自适应、过去观测直接估计植物动态影响、状态反馈和命令前馈信号相结合，实现适当的命令跟踪。控制器的基本功能是观察系统在每个采样时间的当前和延迟输入和输出响应，然后直接修改控制动作，而不是像其他方法那样使用基于模型的前向项或调整控制器增益。这项研究的结果可能有助于控制具有未知动力学和不可预测干扰的系统，如水下航行器和机器人操纵器。此外，在学习控制和智能控制领域也可以做出重大贡献。* * * / /

This research project deals with design and implementation of time-delay control theory for linear and nonlinear systems. The technique combines parametric adaptation, past observations to directly estimate the effect of plant dynamics, state feedback and command feedforward signals to achieve proper command following. The basic function of the controller is to observe the system present, and delayed input and output responses at each sampling time, and then modify the control actions directly rather than using a model-based forward term or adjusting controller gains as is commonly done in other methods. The results of this research could potentially benefit control of systems with unknown dynamics and unpredictable disturbances such as undersea vehicles and robotic manipulators. In addition, significant contributions could be made to the areas of learning control and intelligent control also.*** //