具有输入时滞的不确定系统鲁棒自适应控制

Robust Adaptive Control for Uncertain System with Input Time Delay

对带有输入时滞和状态时滞的线性不确定系统,利用系统将来的状态设计预估控制器,通过与之等价的因果控制器,给出积分形式的控制率,使得系统在自适应控制器的作用下渐近稳定。最后,通过数值算例说明在该控制器的作用下,系统的解趋于稳定的速度比在普通的状态反馈控制器作用下解趋于稳定的速度更快。

In this paper,uncertain linear system with state time delay and input time delay was considered.A robust estimating controller was designed by the future state of system and realized through the equivalent causal controller.Sufficient condition of robust stabilization was obtained.Compared with other literatures,the controller is simple and easy to realize.Finally,numerical example shows the controller converges faster than ordinary state feedback controller.