状态和输入多时变时滞非线性系统的干扰补偿控制器设计

Design of a Disturbance Reduction Controller for a Class of Nonlinear Systems with Multiple State and Input Delays

针对干扰波形已知但幅值未知的情况,对于状态和输入均存在多时变时滞的一类非线性系统设计了干扰补偿控制器.由于未知无界干扰的作用将使系统的状态失去控制,必须对干扰进行补偿控制.为得到系统状态和干扰的估计,将干扰系统和受控系统构成增广系统,对此增广系统设计非线性时滞状态观测器,并将干扰估计值作为补偿控制器的输入从而实现对干扰的补偿.

To cope with the unmeasurable external disturbance having known waveform but unknown magnitudes, a disturbance compensator is designed for a class of nonlinear systems with multiple state and input time-variant delays. When the unbounded disturbance enters the time-delay systems, the systems state variables will go out of control. Thus it is necessary to design a reduction controller to compensate or minimize the effects of the disturbance. In order to obtain the estimation of state and disturbance, an augmented system is constructed by the nonlinear system and the disturbance system, and a time-delay composite state observer is designed to give the estimation of state and disturbance. Hence, the disturbance reduction controller is derived and the systems state variables are kept in control. An illustrative example shows the effectiveness of the proposed methods.