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1.
离散线性时滞系统的次优控制:逐次逼近法   总被引:9,自引:1,他引:9  
A successive approximation approach for designing optimal controllers is presented for discrete linear time-delay systems with a quadratic performance index. By using the successive approximation approach, the original optimal control problem is transformed into a sequence of nonhomogeneous linear two-point boundary value (TPBV) problems without time-delay and time-advance terms. The optimal control law obtained consists of an accurate feedback terms and a time-delay compensation term which is the limit of the solution sequence of the adjoint equations. By using a finite-step iteration of the time-delay compensation term of the optimal solution sequence, a suboptimal control law is obtained. Simulation examples are employed to test the validity of the proposed approach.  相似文献   

2.
A successive approximation approach for designing optimal controllers is presented for discrete linear time-delay systems with a quadratic performance index.By using the successive approximation approach,the original optimal,control problem is transformed into a sequence of nonhomogeneous linear two-point boundary value (TPBV) problems without time-delay and time- advance terms.The optimal control law obtained consists of an accurate feedback terms and a time-delay compensation term which is the limit of the solution sequence of the adjoint equations. By using a finite-step iteration of the time-delay compensation term of the optimal solution sequence, a suboptimal control law is obtained.Simulation examples are employed to test the validity of the proposed approach.  相似文献   

3.
In this paper, we aim to solve the finite horizon optimal control problem for a class of discrete-time nonlinear systems with unfixed initial state using adaptive dynamic programming (ADP) approach. A new ε-optimal control algorithm based on the iterative ADP approach is proposed which makes the performance index function converge iteratively to the greatest lower bound of all performance indices within an error according to ε within finite time. The optimal number of control steps can also be obtained by the proposed ε-optimal control algorithm for the situation where the initial state of the system is unfixed. Neural networks are used to approximate the performance index function and compute the optimal control policy, respectively, for facilitating the implementation of the ε-optimal control algorithm. Finally, a simulation example is given to show the results of the proposed method.  相似文献   

4.
The problem of optimal guaranteed cost control for discrete-time singular large-scale systems with a quadratic cost function is considered in this paper. The system under discussion is subject to norm bounded time-invariant parameter uncertainty in all the matrices of model. The problem we address is to design a state feedback controller such that the closed-loop system not only is robustly stable but also guarantees an adequate level of performance for all admissible uncertainties. A sufficient condition for the existence of guaranteed cost controllers is presented in terms of linear matrix inequalities (LMIs), and a desired state feedback controller is obtained via convex optimization. An illustrative example is given to demonstrate the effectiveness of the proposed approach.  相似文献   

5.
The decentralized H-infinity control problem for discrete-time singular large-scale systems is considered. Based on the bounded real lemma of discrete-time singular systems, a sufficient condition for the existence of decentralized H-infinity controller for discrete-time singular large-scale systems is presented in terms of the solvability to a certain system of linear matrix inequalities by linear matrix inequality (LMI) approach, and the feasible solutions to the system of LMIs provide a parameterized representation of a set of decentralized H-infinity controller. The given example shows the application of the method.  相似文献   

6.
This paper proposes a new method for control of continuous large-scale systems where the measures and control functions are distributed on calculating members which can be shared with other applications and connected to digital network communications.At first, the nonlinear large-scale system is described by a Takagi-Sugeno(TS) fuzzy model. After that, by using a fuzzy LyapunovKrasovskii functional, sufficient conditions of asymptotic stability of the behavior of the decentralized networked control system(DNCS),are developed in terms of linear matrix inequalities(LMIs). Finally, to illustrate the proposed approach, a numerical example and simulation results are presented.  相似文献   

7.
In this paper, a control problem for a class of nonlinear coupled dynamical systems is proposed and a continuous nonlinear feedback control law is designed using direct Lyapunov method to solve the proposed control problem. Moreover, synchronization problem for a special case of this class nonlinear coupled dynamical systems is concerned. Numerical examples show the effectiveness and advantage of the designed continuous nonlinear control law and derived synchronization result.  相似文献   

8.
崔鹏  张承慧 《自动化学报》2007,33(6):635-640
The finite time horizon indefinite linear quadratic(LQ) optimal control problem for singular linear discrete time-varying systems is discussed. Indefinite LQ optimal control problem for singular systems can be transformed to that for standard state-space systems under a reasonable assumption. It is shown that the indefinite LQ optimal control problem is dual to that of projection for backward stochastic systems. Thus, the optimal LQ controller can be obtained by computing the gain matrices of Kalman filter. Necessary and sufficient conditions guaranteeing a unique solution for the indefinite LQ problem are given. An explicit solution for the problem is obtained in terms of the solution of Riccati difference equations.  相似文献   

9.
In this paper, a linear programming method is proposed to solve model predictive control for a class of hybrid systems. Firstly, using the (max, +) algebra, a typical subclass of hybrid systems called max-plus-linear (MPL) systems is obtained. And then, model predictive control (MPC) framework is extended to MPL systems. In general, the nonlinear optimization approach or extended linear complementarity problem (ELCP) were applied to solve the MPL-MPC optimization problem. A new optimization method based on canonical forms for max-min-plus-scaling (MMPS) functions (using the operations maximization, minimization, addition and scalar multiplication) with linear constraints on the inputs is presented. The proposed approach consists in solving several linear programming problems and is more efficient than nonlinear optimization. The validity of the algorithm is illustrated by an example.  相似文献   

10.
The H∞ output feedback control problem for a class of large-scale nonlinear systems with time delay in both state and input is considered in this paper. It is assumed that the interconnected nonlinearities are limited by constant multiplied by unmeasured states, delayed states and external disturbances. Different from existing methods to study the H∞ control of large-scale nonlinear systems, the static gain control technique is utilized to obtain an observer-based output feedback control strategy, which makes the closed-loop system globally asymptotically stable and attenuates the effect of external disturbances. An example is finally carried out to show the feasibility of the proposed control strategy.  相似文献   

11.
非线性相似组合大系统最优控制的逐次逼近过程   总被引:3,自引:2,他引:3       下载免费PDF全文
研究一类仿射非线性相似组合大系统关于二次型性能指标的最优控制问题.首先通过模型简化,将非线性相似组合大系统化为若干个准解耦的子系统;然后利用非线性系统最优控制的逐次逼近设计方法,将求解高阶强耦合的非线性两点边值问题简化为求解一族解耦的线性两点边值问题序列.该线性两点边值问题序列的解一致收敛于非线性相似组合大系统的最优控制,得到的最优控制律由线性最优控制的解析项与非线性补偿序列的极限项组成.通过截取最优控制非线性补偿序列的有限次逼近值.得到了非线性组合大系统的次优控制律.  相似文献   

12.
研究一类参考输入由外系统描述的双线性系统的最优输出跟踪控制问题.利用逐次逼近的方法,首先构造一族非齐次线性两点边值问题序列将原非线性两点边值问题解耦;然后迭代求解伴随向量的序列,得到由状态向量的线性解析函数和以伴随向量的极限形式给出的非线性部分的补偿项组成的最优输出跟踪控制律.通过构造降维观测器重构外系统的状态,解决了最优输出跟踪控制律的物理可实现问题仿真结果表明了该方法的有效性.  相似文献   

13.
This paper presents a successive approximation approach (SAA) designing optimal controllers for a class of nonlinear systems with a quadratic performance index. By using the SAA, the nonlinear optimal control problem is transformed into a sequence of nonhomogeneous linear two-point boundary value (TPBV) problems. The optimal control law obtained consists of an accurate linear feedback term and a nonlinear compensation term which is the limit of an adjoint vector sequence. By using the finite-step iteration of the nonlinear compensation sequence, we can obtain a suboptimal control law. Simulation examples are employed to test the validity of the SAA.  相似文献   

14.
带有持续扰动非线性系统的前馈- 反馈最优控制   总被引:5,自引:1,他引:5  
研究具有外界持续扰动作用下非线性系统的最优控制问题,提出了一种设计前馈一反馈最优控制器的逐次逼近算法.利用该算法可将在扰动作用下的非线性系统的最优控制问题转化为求解线性非齐次两点边值序列的问题.得到的最优控制律由解析的线性前馈-反馈项和伴随向量序列极限形式的非线性补偿项组成.通过截取非线性补偿序列的有限项,可得到前馈-反馈次优控制律.仿真结果表明,该方法抑制外部持续扰动的鲁棒性优于经典反馈最优控制.  相似文献   

15.
基于观测器的受扰非线性系统近似最优跟踪控制   总被引:1,自引:0,他引:1       下载免费PDF全文
研究一类受扰非线性系统的最优输出跟踪控制问题.给出了有限时域最优输出跟踪控制律的近似设计算法.首先将求解受扰非线性系统最优跟踪控制问题转换为求解状态向量与伴随向量耦合的非线性两点边值问题,然后利用逐次逼近方法构造序列将其转化为求解两个解耦的线性微分方程序列问题.通过迭代求解伴随向量的序列,可得到由解析的线性前馈-反馈控制部分和伴随向量的极限形式的非线性补偿部分组成的最优输出跟踪控制律.利用参考输入降维观测器和扰动降维观测器,解决了前馈控制的物理可实现问题.最后仿真结果表明了该方法的有效性.  相似文献   

16.
A successive approximation approach designing optimal controller is developed for affine nonlinear discrete-time systems with a quadratic performance index. By using this approach the original optimal control problem is transformed into a sequence of nonhomogeneous linear two-point boundary value (TPBV) problems. The optimal control law consists of an accurate linear term and a nonlinear compensating term which is the limit of a sequence of adjoint vectors. By taking a finite-time iteration instead of the limit of the sequence of adjoint vectors, we obtain a suboptimal control law. Simulation examples are employed to verify the validity of the proposed algorithm.  相似文献   

17.
受扰非线性离散系统的前馈反馈最优控制   总被引:1,自引:2,他引:1  
利用逐次逼近法研究含外部扰动的非线性离散系统的线性二次型前馈反馈最优控制问题.首先将系统的最优控制问题转化为非线性两点边值问题族.其次,构造了该问题族的由精确线性项和非线性补偿项组成的解序列,并证明了解序列一致收敛到系统的最优解.最后,通过截取最优控制序列解中非线性补偿项的有限项,得到系统的前馈反馈次优控制(FFSOC)律及设计算法.仿真算例表明,该算法容易实现,且对抑制外部扰动的鲁棒性优于经典的反馈次优控制(FSOC).  相似文献   

18.
董瑞 《控制与决策》2010,25(2):299-302
针对离散线性时滞系统,设计了最优滑模面和最优离散变结构控制律.在设计最优滑模面的过程中,利用逐次逼近算法,将既含有时滞项又含有超前项的两点边值问题转化为不含时滞项和超前项的线性两点边值问题,并证明了其解序列一致收敛于原系统的最优滑模.进一步给出了原系统的变结构控制律.  相似文献   

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