基于連續反演算法的時滯補償控制綜述

馬永浩; 張爽; 何修宇; 劉志杰

doi:10.13374/j.issn2095-9389.2021.01.10.002

基于連續反演算法的時滯補償控制綜述

doi: 10.13374/j.issn2095-9389.2021.01.10.002

馬永浩^{1, 2},
張爽^{1, 2},
何修宇^{1, 2, 3, ,},
劉志杰^{1, 2, 3}

1.
北京科技大學人工智能研究院，北京 100083
2.
北京科技大學自動化學院，北京 100083
3.
北京科技大學順德研究生院，佛山 528399

基金項目: 國家自然科學基金資助項目（U2013201，62003029，62073031）；北京科技大學順德研究生院博士后研究基金資助項目（2020BH006）；北京高校高精尖學科北京科技大學“人工智能科學與工程”

詳細信息

通訊作者:
E-mail: xiuyuhe@ieee.org

中圖分類號: TP273.3
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- 文章訪問數: 1510
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- 被引次數: 0
出版歷程
- 收稿日期: 2021-01-10
- 網絡出版日期: 2021-04-09
- 刊出日期: 2022-06-25

A survey of delay compensation and control based on continuum backstepping control algorithms for time-delay systems

MA Yong-hao^{1, 2},
ZHANG Shuang^{1, 2},
HE Xiu-yu^{1, 2, 3
, ,},
LIU Zhi-jie^{1, 2, 3}

1.
Institute of Artificial Intelligence, University of Science and Technology Beijing, Beijing 100083, China
2.
School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing 100083, China
3.
Shunde Graduate School, University of Science and Technology Beijing, Foshan 528399, China

More Information

Corresponding author: E-mail: xiuyuhe@ieee.org

摘要

摘要: 在實際系統的工作過程中，時滯現象普遍存在，如控制信號的采集與傳輸、控制器的構建與實施、事件的決策與處理等。考慮并有效處理時滯特性的影響有助于提升系統的性能。基于連續反演算法的時滯補償控制策略是一種有效的控制方法且取得很多研究成果。該時滯補償控制的主要思路是將具有時滯特性的常微分方程或偏微分方程變換為不具有時滯特性的常微分方程?偏微分方程/常微分方程?偏微分方程(ODE?PDE/PDE?PDE)級聯系統。進一步地，基于變換的級聯系統，結合連續反演算法提出相應的控制策略。該方法具有系統的穩定性證明簡單，魯棒性強，易于求取閉環系統精確解等優點。詳細論述了連續反演算法的基本原理，并針對基于連續反演算法的時滯補償控制算法在處理輸入、輸出、狀態等類型時滯特性的最新研究進展做簡單的闡述和總結。最后，開放式地論述了時滯系統的未來研究方向。
- 時滯系統 /
- 輸入時滯 /
- 輸出時滯 /
- 連續反演算法 /
- 分布參數系統
Abstract: In practical control systems, time delays inevitably occur when sensors need to measure and require the system’s data for decision making as well as when microcontrollers (or other devices) compute and implement control signal processes. The time-delay phenomenon is common in network systems because information (e.g., plant output and control input) is exchanged via a network among control system components and communication delays inevitably arise. Time delays usually affect the dynamic performance of a system, such as the response time and operation accuracy of the system, and may even lead to system instability. Therefore, considering the effects of time delays and effectively compensating for them will improve the performance of a system. Recently, considerable attention has been paid to the study of time-delay problems based on a continuum backstepping control algorithm for its superiority on stability analysis. The design process mainly comprises three steps. First, the original system is transformed into an ordinary differential equation (ODE)–partial differential equation (PDE) or PDE–PDE cascaded system wherein a first-order hyperbolic transport-PDE is introduced to describe the time-delay phenomenon. Thereafter, the cascaded system is turned into a stable system using a Volterra transformation. Finally, a corresponding time-delay compensated control law is developed based on the proposed Volterra transformation. The algorithm based on the continuum backstepping control algorithm is robust, has an inverse optimal control, and exhibits great potential for explicit exact control laws. Moreover, the stability analysis and exact solutions of closed-loop systems are obtained easily. This survey summarizes the basic principle and design procedure of the time-delay compensation method and control law based on the continuum backstepping control algorithm. Further, the recent works of the time-delay compensation control based on this algorithm are introduced for time-delay systems covering the aspects of input, output, and state. Finally, the future works of the time-delay compensation control based on the continuum backstepping control algorithm are discussed.
- time-delay systems /
- input time delay /
- output time delay /
- continuum backstepping control /
- distributed parameter systems

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表 1 目前PDE時滯補償控制研究內容

Table 1. Current research content of PDE time-delay compensation control

Delay type	Frist-order PED				Second-order PDE
	Constant		Time varying		Constant		Time varying
	Known	Unknown	Known	Unknown	Known	Unknown	Known	Unknown
Input delay	√		√		√		√
Output delay	√				√		√
State delay	√		√

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