Discrete-time delay systems:part 1.Global fully actuated case  

作　　者：Guangren DUAN 

机构地区：[1]Center for Control Science and Technology,Southern University of Science and Technology,Shenzhen 518055,China [2]Center for Control Theory and Guidance Technology,Harbin Institute of Technology,Harbin 150001,China

出　　处：《Science China(Information Sciences)》2022年第8期83-100,共18页中国科学（信息科学）（英文版）

基　　金：supported by Fundamental Science Center Program of National Natural Science Foundation of China(Grant No.62188101);Major Program of National Natural Science Foundation of China(Grant Nos.61690210,61690212);National Natural Science Foundation of China(Grant No.61333003);Self-Planned Task of State Key Laboratory of Robotics and System(HIT)(Grant No.SKLRS201716A)。

摘　　要：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.

关 键 词：discrete-time systems time-delay systems time-varying delays fully actuated systems control designs 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]