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Robust disturbances compensation for MIMO linear systems with unmeasured state vector and control delay

https://doi.org/10.17586/2226-1494-2023-23-5-894-903

Abstract

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.

About the Authors

V. H. Bui
ITMO University
Russian Federation

Van Huan Bui — PhD Student 

Saint Petersburg, 197101 


V. A. Zhdanov
ITMO University
Russian Federation

Viktor A. Zhdanov — Student 

Saint Petersburg, 197101 


A. A. Margun
ITMO University ; Institute for Problems in Mechanical Engineering of the Russian Academy of Sciences
Russian Federation

Alexey A. Margun — PhD, Associate Professor; Scientific Researcher

sc 55521791600 

Saint Petersburg, 197101;  Saint Petersburg, 199178 


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For citations:

Bui V., Zhdanov V.A., Margun A.A. Robust disturbances compensation for MIMO linear systems with unmeasured state vector and control delay. Scientific and Technical Journal of Information Technologies, Mechanics and Optics. 2023;23(5):894-903. (In Russ.) https://doi.org/10.17586/2226-1494-2023-23-5-894-903

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ISSN 2226-1494 (Print)
ISSN 2500-0373 (Online)

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