论文标题
延迟补偿的数值预测控制
Numerical Predictive Control for Delay Compensation
论文作者
论文摘要
我们提出了一种延迟补偿控制方法，该方法将未延迟系统的指数稳定为具有数值集成的基于样本的预测控制器。我们的方法处理执行器中的一阶和运输延迟，以及交易数值准确性，并在硬件限制下保证稳定性，以确保稳定性。通过混合稳定性分析和数值模拟，我们从理论和模拟的角度证明了我们方法的功效。
We present a delay-compensating control method that transforms exponentially stabilizing controllers for an undelayed system into a sample-based predictive controller with numerical integration. Our method handles both first-order and transport delays in actuators and trades-off numerical accuracy with computation delay to guaranteed stability under hardware limitations. Through hybrid stability analysis and numerical simulation, we demonstrate the efficacy of our method from both theoretical and simulation perspectives.
