A design method of preview controller for discrete-time systems with multiple input delays

摘要

This paper presents a design method for preview controller of discrete-time linear systems with multiple input delays based on the discrete lifting technology for single input delay plants. The design approach is featured by the infinite dimensionality of the actuator dynamics and the discrete-time feature of the delay-accumulation feedback operator. Specifically, an augmented error system was constructed to transform the tracking problem into a regulation problem, and the delays were eliminated by a new discrete lifting technique. On this basis, a controller with preview compensation and delay compensation was developed based on the preview control technology. The proposed controller was proved through a case study as suitable for multiple input delays system like robot trajectory control.