时滞离散系统最优输出跟踪控制的灵敏度法

针对具有有限时间二次型性能指标的时滞离散系统,研究了最优输出跟踪控制问题.通过引入一个灵敏度参数,将原最优输出跟踪控制问题转化为不含超前项和时滞项的一族两点边值问题.得到的最优输出跟踪控制律由状态向量的线性解析函数和伴随向量级数形式的补偿项组成,其解析函数由一次性求解R iccati矩阵差分方程和矩阵差分方程得到,补偿项由求解伴随向量差分方程的递推公式得到.仿真结果表明了该方法的有效性.

Sensitivity Approach of Optimal Output Tracking Control for Discrete Systems with Time-delay

The optimal tracking control for discrete time-delay systems with finite time quadratic performance index is considered.By introducing a sensitivity parameter,the original optimal output tracking control problem is transformed into a series of two-point boundary value problems without time-advance or time-delay terms.The optimal control law obtained consists of linear analytic functions and a compensation term which is a series sum of the adjoint vectors.The analytic functions can be found by solving a Riccati matrix difference equation and a matrix difference equation.The compensation term can be obtained by a recursion formula that solves adjoint vector equations.Simulation examples are employed to test the validity of the presented algorithm.