Adaptive Output Servocontroller for MIMO System with Input Delay*

V. Nikiforov, A. V. Paramonov, D. Gerasimov
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引用次数: 1

Abstract

The paper deals with the problem of simultaneous adaptive compensation of external disturbances and asymptotic reference tracking in linear time-invariant multi-input multi-output square plants with input delay and unmeasurable state. The plant to be controlled can be unstable. The external signals — disturbance to be compensated and reference to be tracked — are modeled as multi-harmonic signals with unknown frequencies, phases and amplitudes. The solution is based on suitable external signals parameterization and prediction as well as on special tracking error augmentation allowing one to overcome the problem of input delay in adaptation algorithm. Two adaptation algorithms using special augmented error are proposed: gradient-based algorithm and an algorithm with improved parametric convergence based on application of Kreisselmeier’s scheme. No a priori assumptions about knowledge of external signal parameters as well as about persistent excitation (PE) condition are needed for asymptotic reference tracking and disturbance rejection in the closed-loop system.
具有输入延迟的MIMO系统的自适应输出伺服控制器
研究了具有输入延迟和不可测状态的线性时不变多输入多输出方对象的外部扰动自适应补偿和渐近参考跟踪问题。要控制的植物可能不稳定。外部信号——要补偿的干扰和要跟踪的参考——被建模为频率、相位和幅值未知的多谐信号。该方案基于适当的外部信号参数化和预测以及特殊的跟踪误差增强,从而克服了自适应算法中的输入延迟问题。提出了两种利用特殊增广误差的自适应算法:基于梯度的自适应算法和基于Kreisselmeier格式的改进参数收敛算法。闭环系统的渐近参考跟踪和扰动抑制不需要对外界信号参数的知识和持续激励条件的先验假设。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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