An Adaptive Filter-Based Equivalent-Input-Disturbance Approach for Networked Control Systems With Measurement Noise
Xiang Wu, Guangpu Huang, Fanghong Guo, Qun Lu, Jinhua She, Li Yu
Abstract
This article addresses the disturbance rejection problem for networked control systems subject to time-varying delays and measurement noise. First, the uncertainty caused by the delay is modeled to be a delay-induced disturbance and treated as part of the lumped disturbance. Second, an adaptive-filter-based EID estimator is proposed to estimate this lumped disturbance under the effect of measurement noise. A new filter is designed by introducing an adjustable zero. Then, an adaptive characteristics-adjustment mechanism is constructed for the filter to resolve the contradiction between fast disturbance reconstruction and measurement noise attenuation. Finally, experimental results reveal the superiority of the proposed method.