柔性倒立摆的模糊控制算法

针对直线柔性一级倒立摆多变量的特性,提出了基于融合函数的模糊控制算法,解决了"规则爆炸"问题.利用最优控制理论计算出使系统稳定的反馈增益矩阵,由反馈增益矩阵构造融合函数,由此减少了模糊控制器的输入变量维数.仿真和实际实验结果证明该方案的有效性和正确性.     

仿人机器人相似性运动轨迹跟踪控制研究

提出一种基于带观测器的条件状态反馈控制的仿人机器人相似性运动轨迹跟踪控制方法.首先,分析了7连杆双足机器人动力学模型,阐述了其运动能量方程与动力学特征方程; 其次,基于带观测器的状态反馈控制器原理,构建起三维倒立摆平衡控制模型; 最后,由线性二次型调节器确定状态反馈增益矩阵,使机器人轨迹跟踪误差最小化,以复现出较高相似度的双足步行运动效果.实验验证了该方法的有效性.     

极点配置问题中一种自由度的利用

本文根据状态反馈矩阵的非唯一性,把及馈矩阵分解为按能控性指数集实现指定结构极点配置的反馈矩阵和不改变系统极点的反馈矩阵两部分.通过对后者的适当选择可减小反馈增益矩阵的范数.     

基于部分状态信息的模糊控制器设计

基于部分状态信息的控制器是一类特殊的静态输出反馈控制器,一般难以利用线性 矩阵不等式工具求解.该文研究了Takagi-Sugeno模糊模型的部分状态反馈控制问题,设计问 题可以归结为求解一组双线性矩阵不等式.通过使控制器增益由全状态反馈变化为部分状态 反馈,这类双线性矩阵不等式可以利用同伦算法求解.从而,镇定模糊部分状态反馈控制器可 以通过迭代方法得到.仿真例子验证了算法的有效性.     

Lipschitz广义非线性系统观测器设计

研究一类广义非线性系统的观测器设计问题．首先讨论了半正定Lyapunov函数下指数1广义非线性系统稳定及渐近稳定性,然后对一类由线性和Lipschitz非线性项组成的广义非线性系统,给出了渐近稳定观测器存在的条件,并把观测器反馈增益矩阵的设计归结为广义线性系统容许控制以及奇异值计算问题,证明了若容许广义线性系统矩阵的最小奇异值大于系统的Lipschitz常数,容许控制器增益矩阵就是待求的观测器反馈增益矩阵。     

二平动自由度高速轻型并联机械手控制技术研究

研究一种二平动自由度高速!轻型并联机械手的控制技术.针对这类机构的结构特点,利用虚位移原理和矩阵奇异值理论,估算出主动关节负载惯量随位形变化的规律.在此基础上,构建了单轴误差反馈控制系统,并通过计算机仿真预估出定增益PID调节器的参数.最后,通过实验验证了参数整定方法的正确性和有效性.􀁱     

基于遗传算法的统一混沌系统的同步研究

混沌同步是当代非线性与控制学科中的一个热点问题.统一混沌系统为研究对象,将遗传算法和反馈同步法相结合,在同步混沌的过程中,针对反馈同步法在整定反馈增益矩阵时存在的困难,利用遗传算法对反馈增益矩阵进行动态地调整优化.还通过遗传算法使响应系统中的参数收敛于驱动系统中的未知参数.数值仿真实验表明,在驱动系统参数未知的情况下,响应系统能在短时间内或仅通过单个反馈增益变量实施反馈实现与驱动系统的同步,且其参数也能收敛于驱动系统中的未知参数.从而说明,文中所述方法的有效性.     

具有反馈信息的迭代学习控制律在Lebesgue-p范数意义下的收敛性

针对一类线性时不变系统, 提出了具有反馈信息的PD-型(Proportional-derivative-type)迭代学习控制律, 利用卷积的推广的Young不等式, 分析了控制律在Lebesgue-p范数意义下的单调收敛性. 分析表明, 收敛性不但决定于系统的输入输出矩阵和控制律的微分学习增益, 而且依赖于系统的状态矩阵和控制律的比例学习增益; 进一步, 当适当选取反馈增益时, 反馈信息可加快典型的PD-型迭代学习控制律的单调收敛性. 数值仿真验证了理论分析的正确性和控制律的有效性.     

利用状态反馈增益变化设计广义系统H∞可靠控制器

通过对状态反馈两种增益变化形式的分析,研究广义系统H∞可靠控制器的设计问题.给出基于状态反馈增益变化的广义系统H∞可靠控制器的定义,得到了执行器故障模型.用线性矩阵不等式(LMI)方法,研究两种状态反馈增益变化的广义系统H∞控制器存在的充分条件和设计方法.进而,针对执行器的不同故障情形,用LMI方法给出广义系统存在基于状态反馈增益变化的H∞可靠控制器的充分条件.最后,给出了优化广义系统H∞可靠控制器的设计算法.     

利用最优输出反馈的鲁棒调节器设计方法

本文提出了在阶跃型及斜坡型参考输入及干扰下,鲁棒调节器的一种设计方法.这种方法 是将稳定补偿器的设计转化为输出反馈二次型调节器的设计.利用梯度矩阵的表达式,就可 以采用一般单参数寻优方法获得一个简单的调节器.对燃气轮机模型的仿真研究说明了这种 调节器的鲁棒性.最后对这一方法作了扼要讨论.     

A double integral quadratic cost and tolerance of feedback nonlinearities

A double integral quadratic cost with an associated integral constraint on state trajectories is shown to result in a stable feedback control law for linear time-varying differential systems. The gain matrix for this control is obtained by integrating a Riccati-type matrix differential equation over a finite time interval and is shown to allow for a large class of nonlinearities in the feedback loop without destroying its asymptotically stable property. The class of nonlinearities is larger than that which is generally permitted for the standard steady-state linear optimal regulator, and a phase margin of 90 ° can be approached by the closed-loop system in the case of time-invarlant systems.     

Quadratic optimal controller to stabilise symmetrical systems

In this paper, we design a controller for stabilising a control system. The technique used for designing the controller includes a linear regulator and an asymptotical observer which form the controller. The linear regulator designed is a feedback of estimated states and also it must minimise a quadratic performance index. The gain matrix of optimal feedback is obtained by solving the Riccati equation, whilst the gain observer matrix is computed by making use of symmetrical systems properties. The properties of symmetrical systems allow us to find the optimal gain matrix of the observer without solving the dual Riccati equation, we only need to compute the matrices of controllability and observability. Having calculated the gain matrices of regulator and of observer, we proceeded to compute the transfer function of the observer-based controller.     

Estimability and regulability of linear systems

A linear state-space system is said to be estimable if in estimating its state from its output the posterior error covariance matrix is strictly smaller than the prior covariance matrix. It is said to be regulatable if the quadratic cost of the state feedback control is strictly smaller than the cost when no feedback is used. Estimability and regulability are shown to be dual properties, equivalent to the nonreducibility of the Kalman filter and of the optimal linear quadratic regulator, respectively     

倒立摆系统的高精度控制器设计与实现

对线性二次调节器LQR算法中Q和R矩阵的参数与控制系统反馈矩阵Ⅸ之间的关系进行了实验研究,并将所获得的最佳反馈矩阵作为所设计的神经网络控制器的权值初始值。该神经网络控制器是带有局部递归神经网络并具有PID结构的控制器,因而设计简单,尤其适合用于多变量非线性时变系统。通过对一级和二级直线倒立摆系统的具体控制器的设计以及实验,将LQR控制器与神经网络控制器分别在无干扰和有干扰情况下的控制效果进行了对比分析,设计并实现了具有控制精度以及鲁棒性比最优线性二次调节器更高的一级和二级直线倒立摆系统。     

Variable feedback gain control design based on particle swarm optimizer for automatic fighter tracking problems

The main focus of this paper is to develop an optimization method for the automatic fighter tracking (AFT) problem. The AFT problem is similar to a general evader–pursuer maneuvering automation problem between the dynamic systems of two highly interactive objects. This paper proposes a particle swarm optimizer-based variable feedback gain controller (PSO-based VFGC) for dealing with AFT problems. The PSO-based VFGC is designed to obtain the control value of a pursuer through an error-feedback gain controller. Once conditions of system closed-loop stability have been satisfied, the optimal feedback gains can be obtained through PSO, and the actual control values can be derived from the obtained values. Simulation results confirm the capabilities of the proposed method by comparing the results against two other methods in the field: the weight matrix value defined Ricatti equation, and the linear matrix inequality (LMI) based linear quadratic regulator (LQR). The performance of the proposed method is superior to that of its alternatives.     

Output regulation of nonlinear singularly perturbed systems based on T-S fuzzy model

Based on the T_S model,the output regulation of nonlinear singularly perturbed systems via state feedback is discussed.It is shown that,under standard assumptions,this problem is solvable if and only if certain linear matrix equations are solvable.Once these equations are solvable, the state feedback regulator can easily be constructed.     

Output regulation of nonlinear singularly perturbed systems based on T-S fuzzy model

1IntroductionNonlinear singularly perturbed systems arise in a widevariety of engineering applications,representative examplesinclude catalytic continuous stirred_tank reactors[1],biochemical reactors[2],fluidized catalytic crackers[3],flexible mechanical systems[4],electromechanical networks[5],etc.For such systems,the output regulation problem,i.e.the problem of having the output tracking reference(or rejecting disturbance)signals produced by someexternal generator,is ofimportance.In linear …     

Conditions for stabilizability of linear switched systems

This paper investigates some conditions that can provide stabilizability for linear switched systems with polytopic uncertainties via their closed loop linear quadratic state feedback regulator. The closed loop switched systems can stabilize unstable open loop systems or stable open loop systems but in which there is no solution for a common Lyapunov matrix. For continuous time switched linear systems, we show that if there exists solution in an associated Riccati equation for the closed loop systems sharing one common Lyapunov matrix, the switched linear systems are stable. For the discrete time switched systems, we derive a Linear Matrix Inequality (LMI) to calculate a common Lyapunov matrix and solution for the stable closed loop feedback systems. These closed loop linear quadratic state feedback regulators guarantee the global asymptotical stability for any switched linear systems with any switching signal sequence.     

随机系统中满意PID调节器的设计

应用满意控制思想,研究了扇形区域极点和稳态输出方差约束下PID调节器的设计问题．将PID调节器设计问题转化为局部状态反馈问题,再通过适当变换将PID调节器参数设计转化为求解一组线性矩阵不等式的可行解问题,从而可通过MATLAB中的LMI工具箱方便地求解．算例说明了所提出方法的有效性．