A design method of preview controller for discrete-time systems with multiple input delays

A design method of preview controller for discrete-time systems with multiple input delays

Limin Cui Yonglong Liao Dazhao Zheng  

Department of Mathematics and Physics, Beijing Institute of Petrochemical Technology, Beijing 102617, China

College of Science, Qiqihar University, Qiqihar 161006, China

Corresponding Author Email: 
liaoyonglong@bipt.edu.cn
Page: 
75-87
|
DOI: 
https://doi.org/10.3166/JESA.51.75-87
Received: 
| |
Accepted: 
| | Citation

OPEN ACCESS

Abstract: 

This paper presents a design method for preview controller of discrete-time linear systems with multiple input delays based on the discrete lifting technology for single input delay plants. The design approach is featured by the infinite dimensionality of the actuator dynamics and the discrete-time feature of the delay-accumulation feedback operator. Specifically, an augmented error system was constructed to transform the tracking problem into a regulation problem, and the delays were eliminated by a new discrete lifting technique. On this basis, a controller with preview compensation and delay compensation was developed based on the preview control technology. The proposed controller was proved through a case study as suitable for multiple input delays system like robot trajectory control.

Keywords: 

discrete-time system, input delays, preview control, lifting method

1. Introduction
2. Problem formulation and basic assumptions
3. Derivation of the augmented error system
4. Main results and their derivation
5. A simulation example
6. Conclusion
Acknowledgements
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