时滞系统在高速网络下的最优扰动抑制

Optimal disturbance rejection for systems with time delays in high-speed networks

中文关键词  时滞  离散时间系统  网络控制系统  扰动  最优控制  观测器

英文关键词  time delays  discrete-time systems  networked control systems  disturbances  optimal control  observer

中文摘要

      研究在含有控制时滞与测量时滞的系统在高速通讯网络下最优扰动抑制问题. 首先建立在高速通讯网络下含有控制时滞与测量时滞系统的离散化数学模型, 利用模型转换将时滞系统转化为形式上的无时滞系统. 然后通过求解离散Riccati方程和Stein方程设计含有状态反馈、扰动前馈和控制记忆项的最优控制律, 前馈项和控制记忆项分别补偿了扰动和控制时滞对系统性能的影响. 通过构造降维扰动状态观测器, 设计了含扰动前馈、输出反馈及 控制记忆项的动态控制律, 解决了前馈补偿器的物理不可实现问题. 仿真实例验证了所设计的最优控制律的有效性.

英文摘要

      The optimal disturbance rejection is considered for systems with delayed control and measurement in highspeed communication networks. Firstly, the discrete-time mathematical models for systems with delayed control and measurement are established. Based on a model transformation, we transform the system with delays to a formal system without delay. Then, the optimal control law with a state feedback, a disturbance feedforward and a control memory term is derived from a discrete Riccati equation and a Stein equation. The feedforward control term and the control memory term compensate for the effects of disturbances and the control delay, respectively. A dynamic control law with a disturbance feedforward, an output feedback and a control memory term is designed by constructing a reduced-order disturbance state observer, the observer makes the feedforward compensator physically realizable. Simulation results demonstrate the effectiveness of the optimal control law.