共查询到19条相似文献,搜索用时 78 毫秒
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终端约束滚动时域控制的次优性分析 总被引:1,自引:0,他引:1
讨论了有终端约束的滚动时域控制相对于传统最优控制的次优性问题.首先考虑一
般形式的非线性系统,通过分析有限时域滚动优化的特点,得到了滚动时域控制次优性的上
界;然后将结果进一步应用于线性系统,得到一个量化的评价指标. 相似文献
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非线性约束预测控制关键是求得可行性优化解. 输入输出反馈线性化是非线性控制一种常用的方法, 其系统的初始线性输入约束转化成非线性基于状态的约束, 因而无法采用常规的二次规划(QP)求解优化问题. 针对连续状态空间模型系统, 本文提出迭代二次规划方法来寻求非线性优化解. 为了保证算法的收敛性, 系统加入另外一种迭代算法来保证其在整个预测时域上能得到可行解. 仿真控制结果表明了该方法的有效性. 相似文献
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具有小时滞的线性大系统的次优控制 总被引:12,自引:0,他引:12
研究具有小时滞的线性大系统的次优控制问题.首先将子系统状态向量增量和子系统耦合项视为大系统附加扰动输入.再利用无滞后转换法的思想结合微分方程的逐次逼近法,将一个既含有时滞项又含有超前项的高阶两点边值问题分解为若干个解耦的、既不含时滞项又不含超前项的低阶两点边值问题族.最后用最优控制的有限次逼近结果作为大系统的次优控制律.对小时滞线性大系统而言,利用此方法可使计算次优控制律的迭代次数大大减少,因此该方法尤其适合于具有小时滞的线性大系统的次优控制器设计. 相似文献
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连续非线性系统的迭代学习控制方法* 总被引:7,自引:1,他引:7
本文根据误差收敛准则,提出了连续非线性系统的迭代学习控制算法,给出了PID型学习控制算法的收效条件,实际应用表明,该方法可以逼近预定的任意轨线。 相似文献
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非线性连续大系统的最优控制问题,应用线性化和预估方法,非线性问题可转化为一系列一性子系统问题,利用共态预估方法从而在低层并行地求解低维子系统的最优化问题,而上两层分别连续地副近所指定为量及共态向量和拉格朗日乘子,直到达到各自的最估值,最后得到全局问题解的三层递阶控制算法,其主要优点是明显地减少了计算时间。 相似文献
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针对一类具有特殊模型的非线性系统本文提出了一种新型神经网络预测控制算法。该算法利用线性系统预测控制技术和神经网络的非线性映射及并行处理能力来求实际控制量,避免了解非线性方程和非线性预测控制所需的在线数值寻优计算,减少了计算量和计算时间。仿真结果表明了该算法的何效性。 相似文献
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This paper briefly reviews development of nonlinear model predictive control (NMPC) schemes for finite horizon prediction and basic computational algorithms that can solve the stable real‐time implementation of NMPC in space state form with state and input constraints. In order to ensure stability within a finite prediction horizon, most NMPC schemes use a terminal region constraint at the end of the prediction horizon — a particular NMPC scheme using a terminal region constraint, namely quasi‐infinite horizon, that guarantees asymptotic closed‐loop stability with input constraints is presented. However, when nonlinear processes have both input and state constraints, difficulty arises from failure to satisfy the state constraints due to constraints on input. Therefore, a new NMPC scheme without a terminal region constraint is developed using soften state constraints. A brief comparative simulation study of two NMPC schemes: quasi‐infinite horizon and soften state constraints is done via simple nonlinear examples to demonstrate the ability of the soften state constraints scheme. Finally, some features of future research from this study are discussed. 相似文献
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提出了终态松弛的线性二次型Kleinman调节器,给出并证明了该调节器保证系统闭环稳定的一个充分条件.将结果用于预测控制的稳定性分析,得到选择代价函数中加权阵的定量准则. 相似文献
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This paper considers a gradient type of iterative algorithm applied to the open loop control for nonlinear affine systems. The convergence of the algorithm relies on the control signal in each iteration be nonsingular. We present an algorithm for computing the singular control for a general class of nonlinear affine systems. Various nonlinear mechanical systems, including nonholonomic systems, are included as examples. 相似文献
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For input saturated Hammerstein systems, a two‐step output feedback predictive control (TSOFPC) scheme is adopted. A receding horizon state observer is chosen, the gain matrix of which has a form similar to the linear control law. Through application of Lyapunov's stability theory, the closed‐loop stability for this kind of system is analyzed. The intermediate variable may or may not be available in real applications, and these two cases are considered separately in this paper. Furthermore, the domain of attraction for this kind of system is discussed, and we prove that it can be tuned to be arbitrarily large if the system matrix is semi‐stable. The stability results are validated by means of an example simulation. 相似文献
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基于远程预报辨识的非线性广义预测控制算法 总被引:5,自引:0,他引:5
推导了基于远程预报辨识的非线性广义预测控制算法.该算法在辨识基于Hammer-stein模型的非线性过程时,采用了预测控制算法中远程预报的思想,并在广义预测控制器的设计上采用了新的优化指标,这就使辨识机制与控制机制有机地结合起来,对系统的阶次不确定有很好的鲁棒性. 相似文献
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Kuo-Ming Chang 《Asian journal of control》1999,1(2):106-115
This paper presents an indirect adaptive control scheme for a class of input-output linearizable nonlinear systems subjected to system perturbations. System parameters are unknown and estimated recursively by a parameter estimator to obtain approximate system output and output derivatives, and then to derive an adaptive control law. In the parameter estimator, a dead-zone approach is used to avoid the parameter drift problem. A positive switching gain is also set to decrease the dead-zone value to obtain better output tracking performance. Under some assumptions, the indirect adaptive control scheme is proved to be stable. 相似文献