Optimal Tracking Control And State Observer Design For Systems With Time-delay

In recent years, modern industries and national defenses have achieved great advancement, which results in more and more applications of the optimal output theory tracking in the ocean information detection technique, space technique, economic systems, intelligent robot and chemical industry and so on. Therefore study the optimal output tracking problems have important theories and applied value. However, at actual systems time-delay is widespread existent, such as the real-time control system of the ocean roof which disturbance comes from wave power. Optimal control with time-delay has been being subjected to science and technology worker's value. Time-delay phenomenon widespread exists in actual system by variable measurement, substance and signal transfer. Therefore, the research of dynamic output feedback disturbance rejection control law is an important topic. The paper main research contents are generalized as follows:1. Summarize the development of optimal control theory and optimal output tracking control for time-delay systems and correlation application field. Analyze the research status of the optimal output tracking nation and abroad.2. The optimal tracking control problem for linear systems with control delay is considered. Based on the transformations, the system with control delay is transformed to a non-delayed system and the optimal tracking control problem is transformed to equivalent optimal regulation problem. The optimal tracking feedforward and feedback control law is derived from a Riccati equation. A reference input state observer is constructed to guarantee the feedforward compensator physically realizable. Simulation results demonstrate the effectiveness of the optimal tracking control law.3. Research the optimal output tracking problem for linear systems with time-delay which have the quadratic performance index. Based on the Artstein model transformation, the system with control delay is transformed to a nondelayed system. Then the feedforward and feedback optimal disturbance rejection control law is derived from a Riccati equation and a Sylvester equation. A reference input state observer is constructed to guarantee the feedforward compensator physically realizable. Simulation results demonstrate the effectiveness of the optimal tracking control law.4. The state observer design problem for linear systems with delayed measurements is considered. A functional-based transformation is first presented, which transforms the system with delayed measurements into a system without delay formally. Based on the transformed system, we design full-order observer and reduced-order observer for the original delayed measurements systems respectively. Simulation results demonstrate the effectiveness of the proposed design approach.5. The last chapter summarizes the research work of this dissertation and gives an outlook on tracking control for time-delay systems.