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时滞相关型离散时变时滞奇异系统的鲁棒镇定 总被引:1,自引:0,他引:1
讨论含参数不确定的离散时变时滞奇异系统的时滞相关的鲁棒状态反馈稳定化问题. 在一系列等价变换下, 阐述了其和一个不确定正常线性离散时变时滞系统的鲁棒状态反馈稳定化问题的等价关系;利用矩阵不等式方法, 给出一个对所有容许的不确定, 使得闭环系统正则、因果且稳定的时滞相关鲁棒状态反馈稳定化控制器存在的充分条件以及无记忆状态反馈控制器的一个解. 相似文献
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研究一类既有状态时滞又有输入时滞的离散时间线性系统的预见控制问题.分别使用离散提升技术和变量替换法将系统中的状态时滞和输入时滞消掉,得到一个无时滞的系统.在此基础上,使用预见控制理论和状态预估法得到一个带有状态时滞补偿、输入时滞补偿和参考信号预见补偿的控制器.针对不同的时滞使用不同的方法进行消除,有效地降低了增广系统的维数.最后,通过一个数值算例验证了所提出设计方法的有效性. 相似文献
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在积分时滞系统(IPDT)中,传统的史密斯预估器不能很好的消除稳态误差,而且在模型失配时易产生欠补偿问题.为此,文中提出了改进型的史密斯预估器,首先利用反馈控制器,将实际过程与模型过程的误差反馈到控制信号端.其次,在控制对象端加上串联控制器和反馈补偿控制器,分别采用不同的方法进行设计,以消除扰动对系统的影响. MATLAB仿真结果显示,系统具有较好的输出响应,能够有效消除扰动误差. 相似文献
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针对一类基于T-S模糊模型描述的非线性时滞系统,研究在一般执行器故障模式下的含时滞记忆的鲁棒H∞容错控制器设计问题.针对任意连续型执行器故障模式,采用并行分布式补偿原理设计含记忆型状态反馈控制器,给出非线性时滞系统在执行器发生故障情况下的鲁棒镇定准则.然后给出H∞性能指标约束下的满意容错控制器的设计方法和设计步骤.提出的含时滞记忆的状态反馈控制方法可以确保当执行器发生故障时,闭环系统不仅具有渐近稳定性,而且有一定的抗扰动性能,状态反馈控制器设计的保守性较不含时滞记忆控制器设计方法大大降低.仿真实例验证了鲁棒容错控制策略的有效性. 相似文献
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针对利用模糊T-S模型建模的切换模糊系统,考虑当系统同时存在不确定和时滞的情况下,研究系统的状态反馈控制问题.利用切换技术和多Lyapunov函数方法,给出状态反馈控制器存在的充分条件,相应结果以矩阵不等式形式给出,并给出切换律设计.利用平行分布补偿算法(PDC),给出切换模糊状态反馈控制器设计,使得闭环系统在所设计的控制器和切换律下,对所有允许的不确定具有鲁棒性.仿真结果表明方法的有效性. 相似文献
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《Automatica》2014,50(11):2861-2871
This paper is concerned with stabilization of (time-varying) linear systems with a single time-varying input delay by using the predictor based delay compensation approach. Differently from the traditional predictor feedback which uses the open-loop system dynamics to predict the future state and will result in an infinite dimensional controller, we propose in this paper a pseudo-predictor feedback (PPF) approach which uses the (artificial) closed-loop system dynamics to predict the future state and the resulting controller is finite dimensional and is thus easy to implement. Necessary and sufficient conditions guaranteeing the stability of the closed-loop system under the PPF are obtained in terms of the stability of a class of integral delay operators (systems). Moreover, it is shown that the PPF can compensate arbitrarily large yet bounded input delays provided the open-loop (time-varying linear) system is only polynomially unstable and the feedback gain is well designed. Comparison of the proposed PPF approach with the existing results is well explored. Numerical examples demonstrate the effectiveness of the proposed approaches. 相似文献
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Qingsong Liu 《IEEE/CAA Journal of Automatica Sinica》2021,8(11):1827-1836
This paper is concerned with the consensus problem for high-order continuous-time multiagent systems with both state and input delays. A novel approach referred to as pseudo-predictor feedback protocol is proposed. Unlike the predictor-based feedback protocol which utilizes the open-loop dynamics to predict the future states, the pseudo-predictor feedback protocol uses the closed-loop dynamics of the multiagent systems to predict the future agent states. Full-order/reduced-order observer-based pseudo-predictor feedback protocols are proposed, and it is shown that the consensus is achieved and the input delay is compensated by the proposed protocols. Necessary and sufficient conditions guaranteeing the stability of the integral delay systems are provided in terms of the stability of the series of retarded-type time-delay systems. Furthermore, compared with the existing predictor-based protocols, the proposed pseudo-predictor feedback protocol is independent of the input signals of the neighboring agents and is easier to implement. Finally, a numerical example is given to demonstrate the effectiveness of the proposed approaches. 相似文献
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The problem of compensation of arbitrary large input delay for nonlinear systems was solved recently with the introduction of the nonlinear predictor feedback. In this paper we solve the problem of compensation of input delay for nonlinear systems with simultaneous input and state delays of arbitrary length. The key challenge, in contrast to the case of only input delay, is that the input delay-free system (on which the design and stability proof of the closed-loop system under predictor feedback are based) is infinite-dimensional. We resolve this challenge and we design the predictor feedback law that compensates the input delay. We prove global asymptotic stability of the closed-loop system using two different techniques—one based on the construction of a Lyapunov functional, and one using estimates on solutions. We present two examples, one of a nonlinear delay system in the feedforward form with input delay, and one of a scalar, linear system with simultaneous input and state delays. 相似文献
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Pseudo‐predictor feedback control of discrete‐time linear systems with a single input delay
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This paper studies the problems of stabilization of discrete‐time linear systems with a single input delay. By developing the methodology of pseudo‐predictor feedback, which uses the (artificial) closed‐loop system dynamics to predict the future state, memoryless state feedback control laws are constructed to solve the problem. Necessary and sufficient conditions are obtained to guarantee the stability of the closed‐loop system in terms of the stability of a class‐difference equations. It is also shown that the proposed controller achieves semi‐global stabilization of the system if its actuator is subject to either magnitude saturation or energy constraints under the condition that the open‐loop system is only polynomially unstable. Numerical examples have been worked out to illustrate the effectiveness of the proposed approaches. Copyright © 2015 John Wiley & Sons, Ltd. 相似文献
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Stabilization of exponentially unstable discrete-time linear systems by truncated predictor feedback
Predictor state feedback solves the problem of stabilizing a discrete-time linear system with input delay by predicting the future state with the solution of the state equation and thus rendering the closed-loop system free of delay. The solution of the state equation contains a term that is the convolution of the past control input with the state transition matrix. Thus, the implementation of the resulting predictor state feedback law involves iterative calculation of the control signal. A truncated predictor feedback law results when the convolution term in the state prediction is discarded. When the feedback gain is constructed from the solution of a certain parameterized Lyapunov equation, the truncated predictor feedback law has been shown to achieve asymptotic stabilization of a system that is not exponentially unstable in the presence of an arbitrarily large delay by tuning the value of the parameter small enough. In this paper, we extend this result to exponentially unstable systems. Stability analysis leads to a bound on the delay and a range of the values of the parameter for which the closed-loop system is asymptotically stable as long as the delay is within the bound. The corresponding output feedback result is also derived. 相似文献
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The stabilization of exponentially unstable linear systems with time-varying input delay is considered in this paper. We extend the truncated predictor feedback (TPF) design method, which was recently developed for systems with all poles on the closed left-half plane, to be applicable to exponentially unstable linear systems. Assuming that the time-varying delay is known and bounded, the design approach of a time-varying state feedback controller is developed based on the solution of a parametric Lyapunov equation. An explicit condition is derived for which the stability of the closed-loop system with the proposed controller is guaranteed. It is shown that, for the stability of the closed-loop system, the maximum allowable time-delay in the input is inversely proportional to the sum of the unstable poles in the plant. The effectiveness of the proposed method is demonstrated through numerical examples. 相似文献
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Qingsong Liu 《国际强度与非线性控制杂志
》2020,30(10):4003-4021
》2020,30(10):4003-4021
This article is concerned with the consensus problem for discrete‐time multiagent systems with both state and input delays. Single observer‐predictor‐based protocols and multiple observer‐predictors feedback protocols are simultaneously established to predict the future state such that the input delay that can be arbitrarily large yet bounded is completely compensated. It is shown that the consensus of the multiagent system can be achieved by the single/multiple observer‐predictors feedback protocol. Moreover, sufficient conditions guaranteeing the consensus of the multiagent system are provided in terms of the stability of some simple observer‐error systems, and the separation principle is discovered. Finally, a numerical example is worked out to illustrate the effectiveness of the proposed approaches. 相似文献
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Xiushan Cai Linling Liao Yang Liu Cong Lin 《International journal of systems science》2017,48(4):769-777
We consider predictor-based stabilisation for discrete nonlinear systems with state-dependent input delays. The key design is how to determine the prediction horizon and the predictor state. Sufficient conditions for stabilisation of the closed-loop system are obtained. An explicit feedback law is presented for compensating state-dependent input delay. Since input delay is dependent on state, a region of attraction is estimated for the closed-loop system. The proposed predictor-based design can be applied in controlling the yaw angular displacement of a four-rotor mini-helicopter. 相似文献
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This paper is concerned with the stabilization of linear systems with both state and distinct input delays. Nested predictor feedback controllers are designed to predict the future states such that the distinct input delays that can be arbitrarily large yet bounded are compensated completely. It is shown that the compensated closed‐loop system possesses the same characteristic equation as the closed‐loop system without distinct input delays. Both continuous‐time and discrete‐time time‐delay systems are studied in this paper. Moreover, the safe implementation problem for the continuous‐time nested predictor feedback controller is solved via adding input filters. Three numerical examples show the effectiveness of the proposed approaches. 相似文献
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This paper is concerned with the robustness of the predictor feedback control of linear systems with input delays. By applying certain equivalent transformations on the characteristic equation associated with the closed-loop system, we first transform the robustness problem of a predictor feedback control system into the stability problem of a neutral time-delay system containing an integral operator in the derivative. The range of the allowable input delay for this neutral time-delay system can be computed by exploring its delay dependent stability conditions. In particular, delay dependent stability conditions for the neutral time-delay system are established by partitioning the delay into segments. The conservatism of this method can be reduced when the number of segments in the partition is increased. Numerical examples are worked out to illustrate the effectiveness of the proposed method. 相似文献