Compensation of output external disturbances for a class of linear systems with control delay
https://doi.org/10.17586/2226-1494-2022-22-6-1072-1077
Abstract
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 isproposed. 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.
Supporting agencies: The study was supported by the Ministry of Science and Higher Education of the Russian Federation, state assignment № 2019-0898.
About the Authors
Van Huan Bui
ITMO University
Russian Federation
Russian Federation
Van Huan Bui – PhD Student
Saint Petersburg, 197101
A. A. Margun
ITMO University; Institute for Problems in Mechanical Engineering of the Russian Academy of Sciences
Russian Federation
Russian Federation
Alexey A. Margun – PhD, Associate Professor; Scientific Researcher
Saint Petersburg, 197101;
Saint Petersburg, 199178
sc 55521791600
References
1. Suulker C., Emirler M.T. Comparison of different time delay compensation methods for networked DC motor speed control. Proc. of the 6th International Conference on Electrical and Electronics Engineering (ICEEE), 2019, pp. 225–229. https://doi.org/10.1109/ICEEE2019.2019.00050
2. Li K., Cai Z., Zhao J., Lou J., Wang J. Signal compensation control algorithm for quadrotor unmanned aerial vehicles. Proc. of the 36th Chinese Control Conference (CCC), 2017, pp. 3266–3271. https://doi.org/10.23919/ChiCC.2017.8027861
3. Zheng W., Chen M. Tracking control of manipulator based on highorder disturbance observer. IEEE Access, 2018, vol. 6, pp. 26753–26764. https://doi.org/10.1109/ACCESS.2018.2834978
4. Richard J.P. Time-delay systems: an overview of some recent advances and open problems. Automatica, 2003, vol. 39, no. 10, pp. 1667–1694. https://doi.org/10.1016/S0005-1098(03)00167-5
5. Pyrkin A.A., Bobtsov A.A., Nikiforov V.O., Kolyubin S.A., Vedyakov A.A., Borisov O.I., Gromov V.S. Compensation of polyharmonic disturbance of state and output of a linear plant with delay in the control channel. Automation and Remote Control, 2015, vol. 76, no. 12, pp. 2124–2142. https://doi.org/10.1134/S0005117915120036
6. Pyrkin A., Smyshlyaev A., Bekiaris-Liberis N., Krstic M. Rejection of sinusoidal disturbance of unknown frequency for linear system with input delay. Proc. of the 20th American Control Conference (ACC), 2010, pp. 5688–5693. https://doi.org/10.1109/ACC.2010.5531131
7. Bobtsov A.A., Pyrkin A.A. Adaptive and Robust Control with Uncertainties Compensation. St. Petersburg, NRU ITMO, 2013, 135 p. (in Russian)
8. Pyrkin A.A., Bobtsov A.A., Nikiforov V., Vedyakov A., Kolyubin S., Borisov O. Output control approach for delayed linear systems with adaptive rejection of multiharmonic disturbance. IFAC Proceedings Volumes, 2014, vol. 47, no. 3, pp. 12110–12115. https://doi.org/10.3182/20140824-6-ZA-1003.01787
9. Narendra K., Annaswamy A. Stable Adaptive Systems. New Jersey, Prentice Hall, 1989, 496 p.
10. Gerasimov D.N., Paramonov A.V., Nikiforov V.O. Algorithm of multiharmonic disturbance compensation in linear systems with arbitrary delay: internal model approach. Scientific and Technical Journal of Information Technologies, Mechanics and Optics, 2016,vol. 16, no. 6, pp. 1023–1030. (in Russian). https://doi.org/10.17586/2226-1494-2016-16-6-1023-1030
11. Bobtsov A., Kremlev A. Adaptive compensation of biased sinusoidal disturbances with unknown frequency. IFAC Proceedings Volumes, 2005, vol. 38, no. 1, pp. 131–136. https://doi.org/10.3182/20050703-6-CZ-1902.00022
12. Marino R., Tomei P. Output regulation for linear systems via adaptive internal model. IEEE Transactions on Automatic Control, 2003, vol. 48, no. 12, pp. 2199–2202. https://doi.org/10.1109/TAC.2003.820143
13. Paramonov A.V. Adaptive robust disturbance compensation in linear systems with delay. Scientific and Technical Journal of Information Technologies, Mechanics and Optics, 2018, vol. 18, no. 3, pp. 384–391. (in Russian). https://doi.org/10.17586/2226-1494-2018-18-3-384-391
14. Nikiforov V.O. Adaptive and Robust Control with Compensation of the Disturbances. St. Petersburg, Nauka Publ., 2003, 282 p. (in Russian)
15. Nikiforov V.O. Observers of external deterministic disturbances. I. Objects with known parameters. Automation and Remote Control, 2004, vol. 65, no. 10, pp. 1531–1541. https://doi.org/10.1023/B:AURC.0000044264.74470.48
16. Krstic M., Kanellakopoulos I., Kokotovic P. Nonlinear and Adaptive Control Design. NY, John Wiley and Sons, Inc., 1995, 563 p.
Review
For citations:
Bui V.H., Margun A.A. Compensation of output external disturbances for a class of linear systems with control delay. Scientific and Technical Journal of Information Technologies, Mechanics and Optics. 2022;22(6):1072-1077. (In Russ.) https://doi.org/10.17586/2226-1494-2022-22-6-1072-1077
Views:
5
Email this article 