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1.
针对多操纵面飞机气动效能的交叉耦合不确定性, 基于混合优化提出一种鲁棒控制分配策略.将交叉耦合效应描述为控制效能结构不确定性, 建立分配 误差最小的单目标鲁棒最小二乘控制分配模型, 给出等价线性矩阵不等式构型.进一步, 考虑操纵面偏转能量约束, 建立鲁棒混合优化控制分配模型, 以避免单目标 优化下操纵面易饱和的问题.仿真结果表明, 所提出的方法可容忍交叉耦合效应不确定性, 实现操纵面协调控制分配, 具有较好的鲁棒性.  相似文献   

2.
研究一类非线性离散系统的鲁棒非脆弱极小极大控制问题.针对含有不确定项的非线性离散系统,构造T-S模型,引入参数不确定项,使得模糊模型能够更精确逼近原系统.考虑系统和控制器同时含有不确定性,利用线性矩阵不等式(LMI)处理方法和Lyapunov稳定性理论,设计鲁棒且非脆弱的控制器.考虑不确定性使得性能指标最大的情形,得到极小极大鲁棒非脆弱控制器存在的充分条件.引入凸优化算法,求解使闭环系统渐近稳定且性能指标上界最小的最优极小极大鲁棒控制器的参数.最后以著名的truck-trailer模型为例的仿真结果表明所设计的控制器具有良好的鲁棒性和非脆弱性.  相似文献   

3.
具有输入饱和的非线性关联大系统的分散控制   总被引:1,自引:0,他引:1  
考虑了一类具有输入饱和的不确定非线性关联大系统的分散输出反馈鲁棒镇定问题,利用Riccati方程的方法和矩阵的Moore-Penrose逆给出了这类系统的一种分散输出反馈鲁棒镇定控制器的设计方法.同时,考虑了一类具有输入饱和的不确定非线性相似关联大系统,利用相似系统的结构特点,简化了分散输出反馈鲁棒镇定的条件.  相似文献   

4.
针对具有冗余执行机构的过驱动系统, 在考虑控制效率不确定性的条件下, 提出了一种基于鲁棒优化理论的控制分配算法. 研究了原始不确定鲁棒优化模型的建立和基于椭球不确定集的鲁棒对等式的转化问题, 并推广到可由锥二次不等式表示的不确定集的情况. 讨论了鲁棒优化控制分配算法的求解方法及其计算复杂度. 最后, 针对多操纵面飞机的最优控制分配问题与传统算法进行了仿真比较, 结果表明鲁棒优化算法能有效降低控制效率不确定性的影响, 使分配结果更为合理, 从而具有更好的鲁棒性, 同时能有效提高操纵面故障情况下闭环系统的控制重构能力, 很好地改善了飞控系统的性能.  相似文献   

5.
离散广义系统的鲁棒稳定性   总被引:1,自引:1,他引:0  
针对具有结构不确定性的离散广义系统,提出了一种新的鲁棒稳定性分析方法;得 到了使所考虑系统鲁棒稳定的条件,该条件保证对所有容许的结构摄动,离散广义系统正则、 因果且稳定;并进一步得到了所考虑系统具有鲁棒极点集的条件.  相似文献   

6.

在离散需求情景概率不确定的条件下, 建立基于最大最小方法的多周期库存鲁棒优化模型. 考虑需求分布分别隶属于区间和椭球不确定集两种情形, 运用对偶理论将多周期库存鲁棒优化模型转化为易于求解的凸规划问题. 数值结果表明, 与已知需求分布下的系统最优绩效相比, 采用鲁棒订货策略虽然会导致部分绩效损失, 但损失值很小, 表明基于鲁棒优化的多周期库存订货策略具有良好的鲁棒性, 能够有效抑制需求分布不确定性对库存运作绩效的影响.

  相似文献   

7.
对一类含有时滞不确定的线性系统,考虑了鲁棒镇定问题。系统中的不确定性假设满足范数有界备件,通过用改进的Razmikhin-type定理,给出了鲁棒镇定控制器存在的充分条件。通过对Lyapunov矩阵方程的完全参数化求解,得到了鲁棒镇定控制器的参数化形式,鲁棒镇定问题转化为一类优化问题。基于这一条件与参数化特征结构配置结果,得到了状态反馈镇定控制器的设计算法。数值例子说明了该方法的有效性。  相似文献   

8.
研究巡航导弹稳定性优化控制问题,针对面对称可变翼巡航导弹,利用μ综合方法设计了导弹的姿态控制系统。常规巡航导弹执行任务特点单一,可变翼巡航导弹可以通过改变气动外形实现多任务飞行。然而随着弹翼的变化导致导弹的动力学模型与控制特性更为复杂,为了提高可变翼巡航导弹的鲁棒性能,结合弹翼的变化策略构建可变翼导弹的多体动力学模型,综合考虑控制对象的参数不确定性和结构不确定性,采用μ综合方法设计了算例的三通道控制系统并进行了仿真。仿真结果表明,μ综合姿态控制系统不仅具有良好的动态特性,而且对参数不确定性具有良好的鲁棒稳定性。  相似文献   

9.
间隙度量与跟踪系统中的鲁棒控制器设计   总被引:2,自引:0,他引:2  
刘斌  王常虹李伟 《控制与决策》2010,25(11):1713-1718
为定量研究鲁棒控制器允许对象有尽可能大的不确定性.在引入间隙度量的基础上,定义了跟踪系统鲁棒控制器的鲁棒边界,并对某跟踪系统设计了基于间隙度量的鲁棒控制器.该控制器能兼顾对象的不确定性与控制器的不确定性.由仿真结果可以看出,与普通的PID控制器相比,具有较大鲁棒边界的鲁棒控制器不仅具有较强的干扰抑制能力.而且能够在模型加性不确定性存在的情况下具有很好的跟踪性能.  相似文献   

10.
用区间变量描述控制系统参数的不确定性,提出了不确定时滞系统鲁棒H_∞控制的鲁棒可靠性方法,基于鲁棒可靠性的不确定时滞系统最优状态反馈H_∞控制器设计方法,将系统的最优控制器设计归结为基于线性矩阵不等式(LMI)的优化问题.所设计的控制器可以在满足对所有不确定性鲁棒可靠的前提条件下,具有最优的H_∞鲁棒性能,并能在控制系统的设计中综合考虑控制性能、控制代价和鲁棒可靠性.数值算例说明了所提方法的有效性和可行性.  相似文献   

11.
一类多不确定性系统鲁棒H∞控制器的LMI设计方法   总被引:3,自引:0,他引:3  
对同时具有加型参数不确定性以及积分二次约束(IQC,integral quadratic constraint) 不确定性环节的一类线性系统,给出设计其鲁棒H∞状态反馈控制器和动态输出反馈降阶控制 器的设计方法.在具体推导过程中,首先基于动态耗散理论,考虑了无输入情况下系统只具不 确定性闭环环节时的鲁棒H∞稳定性问题.然后基于这一条件,针对典型的无源类和有限增益 类不确定性,推出了系统同时具有多不确定性时进行鲁棒H∞状态反馈控制器和动态输出反馈降 阶控制器设计的充分条件.所有可解条件都可化为标准的LMI(1inear matrix inequality)求解.  相似文献   

12.
In this paper, start-up of a plate reactor with an exothermic reaction is considered. Dynamic optimization is used to obtain start-up trajectories, while a feedback control system is designed for on-line control. The problem is challenging, since the process model is highly nonlinear, and subject to uncertainty. Limited bandwidth of the feedback control system requires that the optimization gives optimal solutions with low sensitivity to uncertainty. Special attention is given to the problem of formulating an optimal control problem based on physical insight to reduce the sensitivity of the solution, thus increasing the overall robustness of the closed loop system. The resulting solutions are evaluated in Monte Carlo simulations. The study shows that introducing concentration constraints on the injected chemical in combination with high frequency penalties on the control signals lead to less sensitive optimal solutions, thus yielding a more robust start-up. Automatic computer tools that greatly simplifies the task of formulating complex dynamic optimization problems have been used to obtain the start-up trajectories and are briefly presented.  相似文献   

13.
The application of the gap metric to robust stabilization of feedback systems is considered. In particular, a solution to the problem of robustness optimization in the gap metric is presented. The problem of robust stabilization under simultaneous plant-controller perturbations is addressed, and the least amount of combined plant-controller uncertainty, measured by the gap metric, that can cause instability of a nominally stable feedback system is determined. Included are a detailed summary of the main properties of the gap metric and the introduction of a dual metric called the T-gap metric. A key contribution of this study is to show that the problem of robustness optimization in the gap metric is equivalent to robustness optimization for normalized coprime factor perturbations. This settles the question as to whether maximizing allowable coprime factor uncertainty corresponds to tolerating the largest ball of uncertainty in a well-defined metric  相似文献   

14.
Philip M. Fitzsimons 《Automatica》1995,31(12):1885-1887
Minimax optimization problems have a long and rich history in the area of control. We show how the computation required to find the solution of a popular and widely applicable minimax problem can be significantly reduced. This reduction in computation results from an observation concerning the inner level (finite) maximization. In particular, we show that the number of parameter combinations that must be considered may be significantly reduced. We next indicate how this optimization problem can be used to synthesize a robust state feedback control for a system with parameter uncertainty. We conclude with an example robust control design problem that has 15 independent uncertain parameters and would not be practical were it not for the reduced computational requirement.  相似文献   

15.
A synthesis problem of the robust inventory control strategy for supply networks under uncertain bounded demand and uncertainty of supply time-delays and with presence of asymmetric constraints on states and controls is considered. Control is constructed based on the invariant ellipsoid method as a linear non-stationary feedback with respect to deviation of the current stock level from the chosen safety level. Solvability conditions of the synthesis problem are stated in the form of linear matrix inequalities and are reduced to solving semi-definite programming and one-dimensional convex optimization problems. The resulting control strategy ensures suppression of influence of intervalbounded external demand and robust stabilization of the closed-loop system. Control of the supply network of three nodes is considered as an example.  相似文献   

16.
This paper addresses the problem of probabilistic robust stabilization for uncertain systems subject to input saturation. A new probabilistic solution framework for robust control analysis and synthesis problems is addressed by a scenario optimization approach, in which the uncertainties are not assumed to be norm bounded. Furthermore, by expressing the saturated linear feedback law on a convex hull of a group of auxiliary linear feedback laws, we establish conditions under which the closed‐loop system is probabilistic stable. Based on these conditions, the problem of designing the state feedback gains for achieving the largest size of the domain of attraction is formulated and solved as a constrained optimization problem with linear matrix inequality constraints. The results are then illustrated by a numerical example.  相似文献   

17.
考虑了在区域极点约束下状态反馈的鲁棒H2控制问题.分别对含多面体不确定性的连 续和离散系统进行了讨论.基于LMI,给出了存在参数相关的Lyapunov矩阵的充分条件.利用 LMI凸优化方法的解,所得静态反馈控制器,不仅保证闭环系统的极点在-给定区域内,而且还 使性能指标H2的一上界达到最小.  相似文献   

18.
This paper deals with unbounded nonlinear real uncertainty and proposes a solution to the strict positive real control problem by dynamic output feedback. Besides, a guaranteed cost problem, solved by LMI optimization combined with line search, is introduced in order to provide robust performance.  相似文献   

19.
不确定时滞系统的输出反馈稳定化控制器设计   总被引:4,自引:0,他引:4  
俞立  王万良  褚健 《自动化学报》1998,24(2):225-229
研究了一类具有时变参数不确定性的时滞系统输出反馈鲁棒镇定问题.证明了这 样的问题可以转化成不带任何不确定性的线性时不变系统的H∞控制问题.从而应用现有 H∞控制问题的求解方法得到不确定时滞系统的稳定化输出动态反馈控制器设计方法.  相似文献   

20.
具有参数不确定性和外干扰系统的鲁棒H-状态反馈控制   总被引:4,自引:1,他引:3  
本文考虑具有参数不确定性和外干扰系统的鲁棒H∞状态反馈控制问题。这个问题的解只需求解一个代数Riccati方程就可得到其状态反馈阵,且这个状态反馈阵仍保持和LQ最优设计相同的形式。运用这样的状态反馈控制。即能保证具有参数不确定性系统是稳定的,又能达到H∞最优干扰抑制效果。  相似文献   

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