Compensation of output external disturbances for a class of linear systems with control delay
The paper considers the problem of the output external unknown disturbance compensation under unmeasurable state vector for a class of linear systems with the control channel delay. It is assumed that the disturbance is the output of an autonomous linear generator. A special observer was built to es...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
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Saint Petersburg National Research University of Information Technologies, Mechanics and Optics (ITMO University)
2022-12-01
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| Series: | Naučno-tehničeskij Vestnik Informacionnyh Tehnologij, Mehaniki i Optiki |
| Subjects: | |
| Online Access: | https://ntv.ifmo.ru/file/article/21638.pdf |
| Summary: | The paper considers the problem of the output external unknown disturbance compensation under unmeasurable state vector for a class of linear systems with the control channel delay. It is assumed that the disturbance is the output of an autonomous linear generator. A special observer was built to estimate the disturbance. A system with an extended state vector is formed on the base of the observer’s estimates. A controller that provides disturbance compensation is proposed. An algorithm for the output external disturbances compensation for a class of linear systems with input delay is presented. This method does not require identification of disturbance parameters. The performance of the proposed algorithm was confirmed using computer simulation in the MATLAB Simulink software. The developed algorithm can be effectively applied to a class of problems related to rocking compensation in ship systems, control of robotic complexes various kinds, etc. |
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| ISSN: | 2226-1494 2500-0373 |