Journal
SCIENCE CHINA-INFORMATION SCIENCES
Volume 65, Issue 8, Pages -Publisher
SCIENCE PRESS
DOI: 10.1007/s11432-021-3417-3
Keywords
discrete-time systems; time-delay systems; time-varying delays; fully actuated systems; control designs
Funding
- Fundamental Science Center Program of National Natural Science Foundation of China [62188101]
- Major Program of National Natural Science Foundation of China [61690210, 61690212]
- National Natural Science Foundation of China [61333003]
- Self-Planned Task of State Key Laboratory of Robotics and System (HIT) [SKLRS201716A]
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A basic introduction to the fully actuated system (FAS) approaches for discrete-time systems with delays is given. The paper proposes general dynamical discrete-time FAS models and designs controllers for such systems, providing a fundamental basis for further analysis and design problems of discrete-time delay systems.
A basic introduction to the fully actuated system (FAS) approaches for discrete-time systems with delays is given. Firstly, general dynamical discrete-time FAS models with time-varying state delays and constant input delays are proposed. The FAS models are classified into affine ones and non-affine ones, and also ones with and without interconnections. Secondly, controllers for such FASs are designed, which result in constant linear closed-loop systems with arbitrarily assignable eigenstructure. Different from the case of FAS with state delays only, the controller for a discrete-time FAS with an input delay involves a prediction scheme which is constructed based on the open-loop system. The contribution of this paper has laid a fundamental basis for FAS approaches to discrete-time delay systems, and further specific analysis and design problems can be established similar to the continuous-time system case.
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