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研究Delta算子描述的线性不确定离散系统在区域极点配置约束下的鲁棒H∞控制问题。目的是设计状态反馈控制器,使得闭环极点位于预先指定的圆形区域,且闭环系统传递函数的H∞范数小于给定的正常数。基于Delta算子系统具有H∞范数界二次D可镇定的概念,导出状态矩阵和输入矩阵均存在不确定性时,Delta算子系统具有H∞范数界的鲁棒区域极点配置的充要条件及其状态反馈设计。研究结果表明,可将现有结果推广到更为一般的情形,并可统一处理连续与离散系统的相关问题。 相似文献
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研究Delta算子描述的不确定线性系统在区域极点约束和H∞范数界约束下的鲁棒容错控制问题。利用线性矩阵不等式(LMI)理论,给出了在执行器失效情况下Delta算子不确定系统在区域极点约束下的鲁棒H∞容错控制存在的充分条件,并可通过求解LMI得到鲁棒容错控制器的设计。所得结果可将连续系统和离散系统的有关结果统一到Delta算子框架中。数值算例验证了该方法的可行性。 相似文献
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本文讨论一类具有串联结构的线性不确定系统的鲁棒H∞控制器,此类系统除状态及控制输入具有滞后特性外,其状态的时滞常数也不相同。文中考虑用分段状态方程描述受控对象,分别设计相应的鲁棒H∞控制器,并证明了分段设计方法能保证整体系统在H∞范数界约束下二次型稳定。 相似文献
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本文研究的问题如下,对于具有构造型不确定性的被控对象,设计一动态反馈控制器,使得闭环系统满足H∞鲁棒次优性能要求。同时,对于满足给定微分方程的参考输入信号,具有鲁棒调节性能。研究结果表明,通过解一适当的H∞标准设计问题可以得到理想的控制器。基于黎卡提不等式的正定解,给出了控制器的具体设计方法。最后,还给出了该设计方法在二自由度机械手上应用的实验结果。 相似文献
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针对一类具有范数有界时变不确定性离散时滞系统,研究其二次稳定化及鲁棒H∞控制问题.基于线性矩阵不等式方法,推导出了该系统二次稳定的充分必要条件及确保H∞范数性能的充分条件.利用求解所导出的线性矩阵不等式的可行解,分别构造出这两种无记忆状态反馈控制器. 相似文献
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Robust factorization 总被引:3,自引:0,他引:3
Aanaes H. Fisker R. Astrom K. Carstensen J.M. 《IEEE transactions on pattern analysis and machine intelligence》2002,24(9):1215-1225
Factorization algorithms for recovering structure and motion from an image stream have many advantages, but they usually require a set of well-tracked features. Such a set is in generally not available in practical applications. There is thus a need for making factorization algorithms deal effectively with errors in the tracked features. We propose a new and computationally efficient algorithm for applying an arbitrary error function in the factorization scheme. This algorithm enables the use of robust statistical techniques and arbitrary noise models for the individual features. These techniques and models enable the factorization scheme to deal effectively with mismatched features, missing features, and noise on the individual features. The proposed approach further includes a new method for Euclidean reconstruction that significantly improves convergence of the factorization algorithms. The proposed algorithm has been implemented as a modification of the Christy-Horaud factorization scheme, which yields a perspective reconstruction. Based on this implementation, a considerable increase in error tolerance is demonstrated on real and synthetic data. The proposed scheme can, however, be applied to most other factorization algorithms 相似文献
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研究一类带不确定输入动态非线性系统的H∞控制问题.在输入动态存在的条件下,
利用反传设计方法构造了鲁棒状态反馈控制器,使得闭环系统在零初始状态下从干扰到输出的
L2增益任意小,同时在干扰输入恒为零时闭环系统是全局渐近稳定的. 相似文献
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We continue the study of robust reductions initiated by Gavaldà and Balcázar. In particular, a 1991 paper of Gavaldà and
Balcázar [7] claimed an optimal separation between the power of robust and nondeterministic strong reductions. Unfortunately,
their proof is invalid. We re-establish their theorem.
Generalizing robust reductions, we note that robustly strong reductions are built from two restrictions, robust underproductivity
and robust overproductivity, both of which have been separately studied before in other contexts. By systematically analyzing
the power of these reductions, we explore the extent to which each restriction weakens the power of reductions. We show that
one of these reductions yields a new, strong form of the Karp—Lipton theorem.
Received November 1997, and in final form March 1999. 相似文献
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Convenient identification techniques based on maximum likelihood estimators (MLE) are very sensitive to deviations from assumed distributions of observations. Huber's approach to robust estimation is highly fruitful for solving identification problems under incomplete information. In the paper some robust estimators for nonlinear regression problems are proposed and their features are discussed. 相似文献
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Agents offer a convenient level of granularity at which to add redundancy a key factor in developing robust software. Blindly adding code introduces more errors, makes the system more complex, and renders it harder to understand. However, adding more code can make software better, if it is added in the right way. As this article describes, the key concepts appear to be redundancy and the appropriate granularity 相似文献
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鲁棒稳定性和鲁棒对角优势的关系 总被引:10,自引:4,他引:6
本文研究了多输入多输出系统的鲁棒稳定性和鲁棒对角优势的关系.不仅给出了使系统
鲁棒对角优势所需的鲁棒稳定性条件,而且还得出了系统鲁棒对角优势一定保证系统鲁棒稳
定这个一般性的结论.并可根据本文所给的结果,对允许摄动的最大边界进行估计,包括非结
构摄动的范数上界和结构性摄动的摄动矩阵的各元素的模的估计.本文得出的鲁棒对角优势
保证鲁棒稳定的结果是较少保守性的. 相似文献