doi: 10.17586/2226-1494-2022-22-6-1072-1077


Compensation of output external disturbances for a class of linear systems with control delay

V. H. Bui, A. A. Margun


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Bui V.H., Margun A.A. Compensation of output external disturbances for a class of linear systems with control delay. Scientific and Technical Journal of Information Technologies, Mechanics and Optics, 2022, vol. 22, no. 6, pp. 1072–1077 (in Russian). doi: 10.17586/2226-1494-2022-22-6-1072-1077


Abstract
The paper considers the problem of the output external unknown disturbance compensation under unmeasurable state vector for a class of linear systems with the control channel delay. It is assumed that the disturbance is the output of an autonomous linear generator. A special observer was built to estimate the disturbance. A system with an extended state vector is formed on the base of the observer’s estimates. A controller that provides disturbance compensation is proposed. An algorithm for the output external disturbances compensation for a class of linear systems with input delay is presented. This method does not require identification of disturbance parameters. The performance of the proposed algorithm was confirmed using computer simulation in the MATLAB Simulink software. The developed algorithm can be effectively applied to a class of problems related to rocking compensation in ship systems, control of robotic complexes various kinds, etc.

Keywords: external disturbances, linear systems, adaptive control, disturbance compensation, delay

Acknowledgements. The study was supported by the Ministry of Science and Higher Education of the Russian Federation, state assignment No. 2019-0898

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