Predictor-Based Active Anti-Disturbance Control for Multi-Rate Control Systems with Delayed Sampled-Data

In this paper, we consider the problem of sampled-data active anti-disturbance control design for multi-rate control system subject to delayed sampled-data output. The plant considered in this paper is equipped with a slow-rate sensor and a fast-rate actuator. In the presence of non-vanishing disturbance, a new output predictor-based observer is first proposed by only using the delayed sampled-data output, so as to effectively estimate system state and disturbance in the inter-sample time interval. A new sampled-data controller that updates at a fast-rate is then designed with the help of active anti-disturbance technique. Thanks to prediction and active anti-disturbance techniques, the proposed sampled-data control method can effectively reject the influence of non-vanishing disturbance despite slow-rate sampling and delay of sensor. Finally, the effectiveness of the proposed control method is demonstrated via simulation results of a practical example of the visual servoing control for an inertially stabilized platform.