Journal of Dynamic Systems Measurement and Control · 1990 · 654 citations · 0 references
EngineeringMechatronics EngineeringDynamical SystemsProcess ControlSystem DynamicsControl Of Dynamical SystemsControl System DesignControl SystemsControl TheoryController DesignRobust ControlControl System RobustnessRobustnessState VariablesTime Delay EstimationTime-delay ControlTime-delay Controller DesignTime-delay SystemsTime-delay Systems Control
The paper addresses control of systems with unknown dynamics and disturbances, modeled by \( \dot{x}=f(x,t)+h(x,t)+B(x,t)u+d(t) \). The authors propose a new Time Delay Control (TDC) method for such systems. TDC estimates uncertainties by evaluating delayed state derivatives, and its structure, stability, and design are analyzed for LTI and SISO systems, with performance tested in simulations and experiments. Theoretical and experimental results demonstrate that TDC provides excellent robustness to unknown dynamics and disturbances.
This paper focuses on the control of systems with unknown dynamics and deals with the class of systems described by x˙=f(x,t) + h(x,t) + B(x,t)u + d(t) where h(x,t) and d(t) are unknown dynamics and unexpected disturbances, respectively. A new control method, Time Delay Control (TDC), is proposed for such systems. Under the assumption of accessibility to all the state variables and estimates of their delayed derivatives, the TDC is characterized by a simple estimation technique that evaluates a function representing the effect of uncertainties. This is accomplished using time delay. The control system’s structure, stability and design issues are discussed for linear time-invariant and single-input-single-output systems. Finally, the control performance was evaluated through both simulations and experiments. The theoretical and experimental results indicate that this control method shows excellent robustness properties to unknown dynamics and disturbances.