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1.
不确定时变线性系统的鲁棒一致渐近稳定的扰动界   总被引:1,自引:0,他引:1  
奚宏生 《自动化学报》1995,21(3):373-376
不确定时变线性系统的鲁棒一致渐近稳定的扰动界奚宏生(中国科学技术大学自动化系合肥230026)关键词不确定时变线性系统,鲁棒一致渐近稳定,奇异值.l引言在文献[1—3]中利用状态空间方法研究了结构不确定定常线性系统参数扰动的稳定区域.本文利用时变矩阵...  相似文献   

2.
鲁守银  尹朝万 《机器人》1996,18(2):97-101
本文讨论了含有时变参量或扰动的机器人系统的鲁棒稳定问题,给出了该类不确定的机器人系统可鲁棒稳定化的充分条件,并且构造了一个静态可稳化鲁棒控制器。  相似文献   

3.
本文研究了具有结构扰动系统的鲁棒性,根据系统频域的临界条件么及扰动系统的结构信息给出了一个判定系统稳定的充分必要条件,并利用此结果提出了一种确定系统鲁棒稳定上界的方法,与现有的方法相比,本文方法可得保守性小的鲁棒稳定上界。  相似文献   

4.
王珂  高立群  刘佳  韩杰 《控制与决策》2006,21(3):356-360
讨论不确定时滞组合系统的分散自适应鲁棒镇定问题.外部扰动存在于子系统内部,可以是非线性或时变的,且不确定项和时滞存在于互联项中.不确定项和外部扰动是有界的,但上界未知.利用自适应律估计未知的上界,设计了非线性无记忆控制器.采用非线性控制器可保证闭环组合系统的解一致有界。且系统状态是一致渐近稳定的.仿真结果表明了该设计方法的有效性.  相似文献   

5.
参数不确定时滞系统的鲁棒P ID 控制   总被引:4,自引:0,他引:4  
李银伢  盛安冬  王远钢 《控制与决策》2004,19(10):1178-1182
提出一种简单而有效的参数不确定时滞系统鲁棒PID控制器设计方法.通过在kp-ki平面上绘制稳定边界线,确定稳定的PID控制器参数区域;推导了一阶不稳定时滞系统PI控制器和PID控制器的存在性条件;基于推广到时滞系统的棱边定理,确定所有鲁棒PID控制器参数集.仿真实例表明了该方法的优越性.  相似文献   

6.
考虑非线性时变不确定系统的鲁棒稳定问题。假设该系统的标称系统具有最小相位,参变量或扰动θ(t)定义在一紧集上,广义三角条件成立时,给出使该类不确定非线性系统鲁棒稳定的充分条件。  相似文献   

7.
不确定系统鲁棒LQ设计的稳定裕度分析和工程应用研究   总被引:1,自引:0,他引:1  
针对不确定线性系统, 研究鲁棒LQ设计的稳定裕度分析问题. 首先提出不确定系统α_0裕度稳定鲁棒界, 针对结构和非结构不确定系统, 分别给出了鲁棒LQ控制系统的鲁棒稳定裕度性分析方法, 进一步给出对结构不确定系统优化鲁棒界的算法. 最后是造纸打浆过程实例的鲁棒稳定裕度性分析以及相应仿真结果.  相似文献   

8.
广义不确定周期时变系统的鲁棒稳定性分析   总被引:4,自引:0,他引:4  
研究广义不确定周期时变系统的鲁棒稳定性问题.基于广义周期时变系统Lyapunov不等式,提出了广义不确定周期时变系统鲁棒稳定的概念,采用矩阵不等式(LMI)方法,得到了该类系统鲁棒稳定的充分必要条件;然后,进一步研究了在状态反馈控制下保证闭环系统鲁棒稳定的条件,给出了一族状态反馈鲁棒稳定器的设计方法;最后,引入了广义周期时变系统二次稳定的概念,并讨论了二次稳定性与鲁棒稳定性之间的关系.  相似文献   

9.
离散不确定控制系统的鲁棒性分析与设计   总被引:3,自引:1,他引:3       下载免费PDF全文
本文在文献[4]的基础上研究了一类离散不确定系统的状态反馈控制问题.文中通过将系统的鲁棒控制器解存在的充分条件转化为一类极小极大的优化命题,然后再通过确定系统的最优解,给出了一种简便而有效的确定极大鲁棒稳定界的方法.从而克服了设计鲁棒控制器所存在的保守性.利用文中的结果还可以将系统的状态反馈系数矩阵的增益设计到最小的程度.  相似文献   

10.
本文讨论了多时滞多扰动线性系统的鲁棒控制器设计问题,证明了在一定条件下时滞扰动系统能稳的充分条件为其标称系统二次型能稳,给出了按标称系统的给定稳定裕度设计系统鲁棒控制器的方法。  相似文献   

11.
This paper addresses stability analysis and design issues in load-frequency control (LFC) for interconnected power systems with a structure uncertainty satisfying the matching conditions. A simple robust decentralized control law for each subsystem has been developed on the basis of the Hessenberg model and utilizing the basic concepts of both linear-quadratic regulator theory and Lyapunov stability theory. A detailed design procedure together with simulation results have been presented for the case of the LFC problem of interconnected power systems. The performance robustness and stability bounds are studied and subsequently condition numbers corresponding to the stabilizing solution of the algebraic Riccati equation are also presented.  相似文献   

12.
A decentralized robust control scheme is presented for the load-frequency control of interconnected power systems with uncertain parameters. A singular value decomposition (SVD) technique and Lyapunov stability theory are adopted to implement a decentralized robust controller. The stability analysis of the closed-loop interconnected systems for all admissible uncertainties is discussed. The performance robustness of the proposed decentralized robust control scheme has been verified through simulation studies on a two-area power system model. The effectiveness of the decentralized control algorithm is compared to that of a centralized robust one. It has been found that both control schemes have almost the same performance with integral control action in the presence of parametric uncertainty in the plant.  相似文献   

13.
This paper presents a decentralized robust controller design for a class of interconnected dynamic systems with control delays and parametric uncertainty. The parameter uncertainties are considered unknown but norm bounded. By applying the Lyapunov stability theorem, two new delay-dependent sufficient conditions are established in terms of linear matrix inequalities, and linear memoryless state feedback controllers are designed to maintain the robust stability for the class of systems under study. It is shown that either no tuning procedure is required or only one parameter from each inequality needs to be tuned. An example is presented to demonstrate the application of the results presented here.  相似文献   

14.
The paper provides a survey of some recent robust stability conditions, their mutual comparisons, and presents new robust stability conditions for continuous- and discrete-time systems with convex polytopic uncertainty. Robust stability analysis is based on LMI conditions and parameter-dependent Lyapunov functions. The developed stability conditions are appropriate for output feedback design. Numerical examples thoroughly illustrate the power of the considered robust stability analysis methods and show which of them provides the less conservative results.  相似文献   

15.
针对一类具有网型拓扑结构的互联大系统,提出一种动态输出反馈多重叠鲁棒分散关联镇定方法.该方法将系统状态空间加以扩展,在扩展空间中将其分解为按循环逆序排列的一系列两两子系统对,并为每个子系统对分别设计使其关联稳定的鲁棒分散动态输出反馈控制器,将这些多重叠设计的控制器再收缩回原空间,实现控制律的协调.将该方法应用到一个四区域网型电力系统控制设计中,仿真结果验证了所提出方法的可行性和优越性.  相似文献   

16.
Development of robust dynamical systems and networks such as autonomous aircraft systems capable of accomplishing complex missions faces challenges due to the dynamically evolving uncertainties coming from model uncertainties, necessity to operate in a hostile cluttered urban environment, and the distributed and dynamic nature of the communication and computation resources. Model-based robust design is difficult because of the complexity of the hybrid dynamic models including continuous vehicle dynamics, the discrete models of computations and communications, and the size of the problem. We will overview recent advances in methodology and tools to model, analyze, and design robust autonomous aerospace systems operating in uncertain environment, with stress on efficient uncertainty quantification and robust design using the case studies of the mission including model-based target tracking and search, and trajectory planning in uncertain urban environment. To show that the methodology is generally applicable to uncertain dynamical systems, we will also show examples of application of the new methods to efficient uncertainty quantification of energy usage in buildings, and stability assessment of interconnected power networks.  相似文献   

17.
基于向量的幂变换方法,对具有结构不确定性的输出反馈线性系统的鲁棒稳定性问题作了分析。单参数摄动时给出了闭环系统鲁棒稳定的充要条件,多参数摄动时得到了保证系统鲁棒稳定的充分条件,导出了闭环系统鲁棒稳定区域的一种代数表达形式。最后给出了实例。  相似文献   

18.
This paper focuses on the problem of robust decentralized Hinfinity control design for nonlinear interconnected systems with uncertainty. It presents, respectively, a state feedback control design and an output feedback control design, which will stabilize the plant and guarantee an Hinfinity-norm bound constraint on disturbance attenuation for all admissible uncertainties. The interconnection between the robust decentralized Hinfinity control problem and the nonlinear decentralized Hinfinity control for systems without uncertainty is established. Based on this interconnection, the solvable conditions of robust decentralized Hinfinity control is proposed in terms of Hamilton-Jacobi inequality.  相似文献   

19.
A robust stabilization problem for fuzzy systems is discussed in accordance with the definition of stability in the sense of Lyapunov. We consider two design problems: nonrobust controller design and robust controller design. The former is a design problem for fuzzy systems with no premise parameter uncertainty. The latter is a design problem for fuzzy systems with premise parameter uncertainty. To realize two design problems, we derive four stability conditions from a basic stability condition proposed by Tanaka and Sugeno: nonrobust condition, weak nonrobust condition, robust condition, and weak robust condition. We introduce concept of robust stability for fuzzy control systems with premise parameter uncertainty from the weak robust condition. To introduce robust stability, admissible region and variation region, which correspond to stability margin in the ordinary control theory, are defined. Furthermore, we develop a control system for backing up a computer simulated truck-trailer which is nonlinear and unstable. By approximating the truck-trailer by a fuzzy system with premise parameter uncertainty and by using concept of robust stability, we design a fuzzy controller which guarantees stability of the control system under a condition. The simulation results show that the designed fuzzy controller smoothly achieves backing up control of the truck-trailer from all initial positions  相似文献   

20.
不确定线性组合系统的分散镇定与输出跟踪   总被引:34,自引:0,他引:34  
提出了不确定线性组合系统存在分散鲁棒反馈控制器和输出跟踪吕的充分条件。  相似文献   

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