Direct adaptive output-feedback control for unstable linear multidimensional systems with distinct input delays

Cong Vinh Tu, Natalia Dudarenko

Abstract


Existing algorithms for the direct compensation of unknown disturbances in unstable multivariable linear systems with distinct input delays typically propose a single adaptive controller for the entire system; therefore, only one adaptive gain is used to adjust the overall convergence rate of all control channels. Moreover, these algorithms do not consider systems with output measurements only, where the state vector cannot be measured directly. This paper proposes the design of a new direct adaptive output-feedback control method based on a combination of a state-feedback system decoupling approach and a direct disturbance compensation method using the internal model principle. The proposed method does not require time-domain integral calculations in the construction of the control law, thereby enhancing the robustness of the system. In addition, the adaptive algorithm can be designed independently for each control channel. As a
result, the adaptive algorithm becomes easier to tune, negative effects caused by inter-channel interactions are eliminated, and the adaptive gains of each channel can be selected independently according to the desired performance requirements.


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References


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