Compensation of external disturbances for MIMO systems with control delay
https://doi.org/10.17586/2226-1494-2022-22-4-666-673
Abstract
The problem of compensation of external disturbing influences for MIMO system with input delay is important and relevant. A solution to this problem is proposed in the problems of dynamic objects control and in a number of others. The proposed method is based on the principle of an internal model and requires the identification of perturbation parameters. At the first stage, a scheme for extracting a disturbance is presented which is represented as a sinusoidal signal with an unknown frequency, amplitude, and phase. At the second stage, the problem of identifying the frequencies of a sinusoidal and multisinusoidal signal is solved. In the last stage, an algorithm for stabilizing the state of the object to zero is developed using feedback. A new scheme for compensating external disturbances for a MIMO system with an input delay is proposed. A new algorithm for identifying the frequencies of a multisinusoidal signal is proposed. The analysis of the possibilities of the proposed estimation method using computer simulation in the MATLAB Simulink environment is carried out. The developed method can be effectively applied to a wide class of applied tasks related to the control of robots and robotic manipulators for various purposes.
About the Authors
Kh. T. Nguyen
ITMO University
Russian Federation
Russian Federation
Khac T. Nguyen — PhD Student
Saint Petersburg, 197101
S. M. Vlasov
ITMO University
Russian Federation
Russian Federation
Sergey M. Vlasov — PhD, Associate Professor
sc 55355689600
Saint Petersburg, 197101
A. A. Pyrkin
ITMO University
Russian Federation
Russian Federation
Anton A. Pyrkin — D. Sc., Full Professor, Dean of Faculty
sc 26656070700
Saint Petersburg, 197101
A. V. Skobeleva
ITMO University
Russian Federation
Russian Federation
Aleksandra V. Skobeleva — Student
Saint Petersburg, 197101
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Review
For citations:
Nguyen Kh.T., Vlasov S.M., Pyrkin A.A., Skobeleva A.V. Compensation of external disturbances for MIMO systems with control delay. Scientific and Technical Journal of Information Technologies, Mechanics and Optics. 2022;22(4):666-673. (In Russ.) https://doi.org/10.17586/2226-1494-2022-22-4-666-673
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