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基于广义线性系统比例与部分状态导数反馈参数化特征结构配置结果和矩阵对广义特征值灵敏度结果, 得到了关于开环系统矩阵中摄动元素的闭环特征值灵敏度的参数表达式, 并在此基础上提出了广义线性系统比例与部分状态导数反馈最小灵敏度特征值配置的有效算法. 该算法不含有"返回"过程, 允许闭环特征值在希望的区域内方便地参与优化. 一个算例说明了算法的简单性和有效性. 相似文献
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矩阵二阶系统的鲁棒极点配置 总被引:1,自引:0,他引:1
直接在矩阵二阶框架下,利用特征结构配置参数化方法,研究矩阵二阶线性系统的鲁棒极点配置问题.将两种测量闭环特征值灵敏度方法有机地结合起来,给出一个新的优化性能指标,此指标的优化过程完全依赖于特征结构配置中的设计自由度.为进一步提高闭环系统的鲁棒稳定性,闭环极点也作为设计自由度的一部分参与优化.数值例子分析结果表明了该方法的有效性. 相似文献
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将Wonham可控规范型作了推广,给出了一种新的状态反馈极点配置问题算法,首先讨论了单输入系统情况,对多输入系统将其分解为若干个单输入系统而求解,其优点是不需要计算系统的特征多项式,介绍了该方法的基本原理、求解步骤,得到了反馈增益矩阵的一般表达式.该表达式中含有可供任意选择的参数,通过对参数的适当选取,可适应控制系统的其他性能要求. 相似文献
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线性系统的鲁棒状态反馈控制器 总被引:8,自引:0,他引:8
本文基于线性系统的状态反馈特征结构配置结果和矩阵特征值灵敏度分析理论,提出了线性系统的一种鲁棒状态反馈控制器,它在满足闭环系统特性要求的前提下,使得闭环极点关于系统参数摄动具有最小的灵敏度. 相似文献
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A method is shown which allows to compute the eigenvalues of anmn -dimensional square matrixF from the eigenvalues of ann -dimensional matrixA , if the m2submatrices ofF are describable by convergent power series ofA . As an illustration, matrices arising in a multivariable feedback control system are considered. 相似文献
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This paper presents a new method to eliminate the chattering of state feedback sliding mode control (SMC) law for the mobile
control of an autonomous underwater vehicle (AUV) which is nonlinear and suffers from unknown disturbances system. SMC is
a well-known nonlinear system control algorithm for its anti-disturbances capability, while the chattering on switch surface
is one stiff question. To dissipate the well-known chattering of SMC, the switching manifold is proposed by presetting a Hurwitz
matrix which is deducted from the state feedback matrix. Meanwhile, the best switching surface is achieved by use of eigenvalues
of the Hurwitz matrix. The state feedback control parameters are not only applied to control the states of AUV but also connected
with coefficients of switching surface. The convergence of the proposed control law is verified by Lyapunov function and the
robust character is validated by the Matlab platform of one AUV model. 相似文献
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Chunjiang Qian Wei Lin 《Automatic Control, IEEE Transactions on》2002,47(1):21-36
The paper focuses on the problem of having the output of nonlinear systems track a prescribed C1 reference signal. It is proved that, under mild assumptions, global practical output tracking is achievable by smooth state feedback, although asymptotic output tracking is usually not possible (even locally) because the linearized system has uncontrollable modes whose eigenvalues are on the right half plane. Smooth feedback controllers which solve the problem of global practical output tracking are explicitly constructed, based on a modified 'adding a power integrator' approach. This feedback design method also leads to solutions to challenging benchmark control problems, including practical output tracking of an underactuated unstable two degrees of freedom mechanical system 相似文献
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WOJCIECH KOZERA TERESA KUROWSKA ZBIGNIEW BOGUNIECKI 《International journal of systems science》2013,44(12):1539-1547
The article presents the iterative method of stabilizing control signal selection in the form of the state-feedback of a multivariable linear time-invariant plant with delays. The proposed method is based on the consecutive assignment of the single system eigenvalues λj so that its stabilizability will be preserved for a given iteration step and the assigned eigenvalues will not be changed, even though a dynamical element identified by the matrix Kj(z) (where z is an elementary delay operator) is placed into the state feedback. To illustrate the abovementioned method, a simplified example is given. 相似文献
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Boris Zaslavsky 《Systems & Control Letters》1996,27(3):181
A nonlinear system with uncontrollable linearization is under investigation. The uncontrollable part of the linearization is assumed to have no eigenvalues in the right half-plane and have eigenvalues with zero real and nonzero imaginary part. A nonlinear feedback loop is assumed to carry out a connection between the controllable part of the system and the uncontrollable one. The control law of the controllable part is defined to be a linear function of the state variables. This linear feedback loop can maintain the stability of a whole control system provided its feedback law coefficients satisfy a system of algebraic inequalities. The consistence of this system of inequalities is proved. 相似文献
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In this paper the design of compensators for output feedback systems which satisfy a sensitivity, reduction criterion is considered for the case when the dynamic compensator is an observer. Using the conditions for comparison sensitivity design of output feedback systems derived by Naeije and Bosgra [4], it is shown that for arbitrary stable state-observers (full or reduced order) there exist feedback gains multiplying the system output and observer states for which the system is stable and the sensitivity reduction criterion is satisfied. Use of observers enables direct control over some of the feedback system eigenvalues and leads to a useful interpretation of the sensitivity weighting matrix. A design procedure is described and illustrated by an example of an aircraft control. The results are graphically compared with results obtained by a conventional design procedure. 相似文献
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The problem of designing a linear feedback when all state variables are not available is discussed. The design scheme is based on computation of a complete state feedback and a reduction to a specified structure. The reduction is made by approximation of the eigenspace corresponding to a set of dominant eigenvalues. The method consists of successive choices of weightings on this space. The method is applied to the control of a boiler and a three-machine power system. In the power system case the complete state feedback can be replaced by local output feedback without significant decrease in performance.The examples indicate that the proposed method is a realistic design method for multivariable systems. 相似文献
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本文考虑具有一般线性时不变动态特性的多智能体系统优化控制问题. 将智能体之间的通讯拓扑结构建模成具有自环的无向多图, 每个子系统就是一个节点, 每个节点的控制行为只与本身及邻居节点有关. 由于反馈矩阵具有块对角结构约束, 本文研究的LQR控制问题本质上是一类结构优化问题. 最小化系统LQR性能指标等价于最小化单个智能体性能指标和. 基于线性矩阵不等式得到系统的次优性能指标, 指出LQR性能域是凸集. 由此多智能体系统的LQR控制转化为若干个子系统的LQR控制, 可以通过求解系数是Laplacian矩阵最小最大特征值的两个矩阵不等式得到反馈增益. 数值例子验证了方法的有效性. 相似文献
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Kokame H. Hirata K. Konishi K. Mori T. 《Automatic Control, IEEE Transactions on》2001,46(12):1908-1913
The paper is concerned with the stabilization of uncertain steady states by the state difference feedback. The feedback method has a peculiar feature that it uses only the difference between the present state x(t) and the past state x(t-T), considering exact information on the steady state is unavailable. Hitherto a condition is known under which such stabilization can not be realized. The article conversely shows that the state difference feedback can stabilize only if the exclusion condition is not true. Furthermore a dynamic output difference feedback is shown to be able to stabilize under quite a mild condition that the steady state is not associated with zero eigenvalues. The ability of the method is illustrated by using a cart-pendulum system which moves along a one dimensional varying slope 相似文献
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This work presents a technique for obtaining a bounded continuous feedback control function which stabilizes a linear system in a certain region. If the open-loop system has no eigenvalues with positive real part, the region of attraction of the resulting closed-loop system is all ℝn, i.e., the feedback control is a global stabilizer; otherwise, the region contains an invariant (‘cylindric-like’) set where the controller does not saturate. The proposed control is a linear-like feedback control with state-dependent gains. The gains become implicitly defined in terms of a nonlinear scalar equation. The control function coincides in an ellipsoidal neighbourhood of the origin with a linear feedback law which is a solution of a linear quadratic regulator problem. This design allows eigenvalue placement in a specified region. © 1997 by John Wiley & Sons, Ltd. 相似文献