Robust disturbances compensation for MIMO linear systems with unmeasured state vector and control delay
In the paper, the problem of compensation of external disturbance in multichannel systems with unmeasurable state vector and delay in the control channel is considered. It is assumed that the disturbance has a harmonic form. To solve the problem of estimating the state vector of a system, a full-o...
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Saint Petersburg National Research University of Information Technologies, Mechanics and Optics (ITMO University)
2023-10-01
|
| Series: | Naučno-tehničeskij Vestnik Informacionnyh Tehnologij, Mehaniki i Optiki |
| Subjects: | |
| Online Access: | https://ntv.ifmo.ru/file/article/22360.pdf |
| Summary: | In the paper, the problem of compensation of external disturbance in multichannel systems with unmeasurable state
vector and delay in the control channel is considered. It is assumed that the disturbance has a harmonic form. To
solve the problem of estimating the state vector of a system, a full-order observer with Unknown Input Observer is
constructed. A new observer of external disturbance is formed on the basis of the state vector estimates produced by this
observer. As a result, a system is formed that uses estimates with an extended state vector. For this system, a regulator
is constructed that provides compensation of the disturbance. The proposed algorithm guarantees boundedness of all
signals in the closed-loop system and asymptotic stability of the output. It does not require identification of parameters
of external disturbance. To demonstrate the performance and efficiency of the proposed approach, computer simulation
using MATLAB Simulink software environment is performed. The developed algorithm can be effectively applied in
systems with external disturbance in the form of sinusoidal signals, including systems exposed to wind, ship systems,
motion control systems of robotic complexes of various types, and others. |
|---|---|
| ISSN: | 2226-1494 2500-0373 |