| 基于鲁棒开环解耦的系统逆二自由度控制 |
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| 引用本文： | 彭超,徐红兵,张健.基于鲁棒开环解耦的系统逆二自由度控制[J].控制与决策,2011,26(8):1264-1268. |
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| 作者姓名： | 彭超 徐红兵 张健 |
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| 作者单位： | 电子科技大学自动化工程学院,成都,611731 |
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| 基金项目： | 国家自然科学基金项目(60972107) |
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| 摘 要： | 针对MIMO系统的轨迹跟踪，提出一种基于鲁棒开环解耦的系统逆二自由度（2DOF）控制方法．该方法通过鲁棒开环解耦解决MIMO系统的耦合问题，利用系统逆2DOF控制保证轨迹跟踪性能．首先提出一种保证预补偿器阶数最小和解耦系统鲁棒性的鲁棒开环解耦方法；然后结合鲁棒开环解耦和系统逆2DOF控制，给出系统逆前馈控制和H∞混合灵敏度鲁棒反馈控制器的设计方法；最后通过设计实例及仿真结果验证了该控制方法的有效性．
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| 关 键 词： | 鲁棒开环解耦 二自由度控制 系统逆 H∞混合灵敏度 |
| 收稿时间： | 2010/6/1 0:00:00 |
| 修稿时间： | 2010/8/12 0:00:00 |
Inversion-based 2DOF control based on robust open decoupling |
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| PENG Chao,XU Hong-bing,ZHANG Jian.Inversion-based 2DOF control based on robust open decoupling[J].Control and Decision,2011,26(8):1264-1268. |
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| Authors: | PENG Chao XU Hong-bing ZHANG Jian |
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| Affiliation: | PENG Chao,XU Hong-bing,ZHANG Jian (School of Automation Engineering,University of Electronic Science and Technology of China,Chengdu 611731,China. |
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| Abstract: | An inversion-based two-degree-freedom(2DOF) control based on robust open decoupling is proposed for MIMO
tracking system. This control method accounts for coupling problem of MIMO system by robust open decoupling, and
improves tracking performance by inversion-based 2DOF controller. Firstly, a robust open decoupling method is proposed.
Then the design method of inversion based feedforward controller and robust controller based on H∞ mixed sensitivity is
proposed in 2DOF control. Finally, a design example and its simulation result show the effectiveness of the proposed control
method. |
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| Keywords: | robust open decoupling 2DOF control inversion-based H∞ mixed sensitivity |
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