大规模系统两层递阶控制的直接分解算法

提出一个新的递阶控制的分解协调方法，它是由最优化问题的直接梯度解及性能函数的一个柔性分解组成。通过性能函数分解的自由度得到所需要的混合结构控制律，其下层控制器是闭环控制部分，上层是保证全局系统最优化的开环控制部分，局部性能函数的柔性选取，使两层优化任务的重新划分既能离线计算，也能在线修正。

A NEW DIRECT DECOMPOSITION METHOD OF TWO LEVEL HIERARCHICAL CONTROL FOR THE LARGE SCALE SYSTEM

In this paper, a new decomposition coordination method of hierarchical control is presented, it consists of a direct gradient solution of the optimization problem, together with a free flexibility decomposition of the cost function. Using the freedom of the cost function decomposition the desired mixed structure control laws are obtained. The low level controller is a closed loop term, while at the higher level an open loop term guarantees the optimality of the global solution. Moreover, the method offers a great flexibility in the choice of the local cost function indices, this the repartition of the task between the two levels can be either off line computation or on line regulation.