Information Fusion Tracking Control for a Class of Discrete-Time Systems With Delays
针对一类带干扰的离散时滞系统，用信息融合方法设计扰动观测器和延迟控制器，同时补偿干扰和时滞的负面影响，并用李雅普诺夫理论保证跟踪误差收敛。
In this article, the optimal tracking control problem for a class of discrete time-delay systems with disturbance is studied using the information fusion control methodology. First, the disturbance estimation is regarded as a minimization problem, and an information fusion disturbance observer (IFDO) is designed. Second, combining the soft constraint requirement of the output tracking error contained in the performance index function, a fusion filter is constructed to estimate the system co-state and its information weight under system state and input delays. Finally, the obtained co-state and its information weight, the soft constraint requirement of the control input contained in the performance function, as well as the system delay dynamics, are all transformed into the information equations about the control input, and then the information fusion delay controller (IFDC) is directly obtained by fusing these information equations. As a result, the negative effects caused by disturbance and time delays can be effectively compensated at the same time. The convergence of the tracking errors of the closed-loop system is guaranteed by the Lyapunov stability theory. Numerical simulation results have been provided to demonstrate the effectiveness and robustness of the proposed control algorithm.