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A design method of preview controller for linear continuous-time systems with multiple input delays
Yonglong Liao,Fucheng Liao 제어로봇시스템학회 2017 제어로봇시스템학회 국제학술대회 논문집 Vol.2017 No.10
This paper studies a preview control problem for a class of linear continuous-time systems with multiple input delays. Firstly, the preview problem is transformed into a regulation one via constructing an augmented error system. Secondly, a variable substitution is given to eliminate the input delays. Then, based on the solution of an algebraic Riccati equation, a controller with delay compensation and preview compensation is obtained. Furthermore, the existence conditions of the preview controller and the asymptotic tracking properties of the closed-loop system are discussed. Finally, a numerical simulation is given to illustrate the effectiveness of the design method.
Design of Preview Controller for Linear Continuous-time Systems with Input Delay
Yonglong Liao,Fucheng Liao 제어·로봇·시스템학회 2018 International Journal of Control, Automation, and Vol.16 No.3
This paper makes it possible to design a preview controller for linear continuous-time systems with input delay, which expands the preview control theory. An augmented error system is established. And a variable substitution is used to transform the delay preview control system into a delay-free one whose preview controller uses the future value of the augmented state vector. The future value of the augmented state vector is estimated by the information of the current state vector, the control input on the past time window, and the reference signal on the future time window. Under the assumption of zero initial conditions, a simplified controller with both delay compensation and preview compensation is obtained for the original system. In addition, a preview controller with full-order observer is offered. Finally, simulation results are presented to illustrate the effectiveness and robustness of the controller.
Robust Tracking Control with Preview Action for Uncertain Discrete-time Systems
Li Li,Fucheng Liao,Zhenqin Ren 제어·로봇·시스템학회 2020 International Journal of Control, Automation, and Vol.18 No.3
This paper discusses the robust preview control problem for uncertain discrete-time systems, where future reference and disturbance signals over a finite horizon can be previewed. First, in order to utilize future information for the controller design, an augmented error system including future information on previewable signals is constructed by using two new auxiliary variables related to the original system state and input. Second, sufficient conditions for designing a robust state feedback preview controller are given in terms of solutions to a set of linear matrix inequalities (LMIs). A preview controller is designed, one which guarantees that for admissible uncertainties and disturbances, the output of the closed-loop system can asymptotically track the reference signal. Finally, numerical simulation examples illustrate the superiority of the desired preview controller for the uncertain system.