共查询到17条相似文献,搜索用时 203 毫秒
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研究一类线性连续时间时滞系统的有限时间有界跟踪控制问题.首先,采用预见控制理论中求导的方法构造带有时滞的误差系统,把误差信号的信息包含在误差系统的状态向量中,再将其作为误差系统的输出向量;其次,通过为误差系统设计一个有记忆的状态反馈控制器,把问题转化为研究带有时滞的误差系统的闭环系统输入-输出有限时间稳定问题;再次,借鉴输入-输出有限时间稳定的研究方法和线性矩阵不等式的方法, 通过构造Lyapunov-Krasovskii函数,给出由一组线性矩阵不等式表征的控制器增益矩阵的设计方法,由此得到原系统的一个有限时间有界跟踪控制器;最后,通过一个数值实例验证所设计的控制器的有效性和优越性. 相似文献
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针对一类带有状态时滞的线性离散不确定系统,提出一种基于LMI的保性能预见控制器设计方法.首先引入差分算子,将时滞系统转换为一般系统,同时对可预见的未来目标值信号作差分处理,构造出包含未来目标值信息的扩大误差系统;其次引入保性能控制,导出扩大误差系统在相应性能指标下渐近稳定的充分条件;最后通过求解一个有LMI约束的优化问题,得到了系统的最优保性能预见控制律. 相似文献
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针对现有控制器中预见补偿器和重复控制器相对独立作用的最优跟踪问题,提出从信息融合的角度构造线性离散系统的最优预见重复控制器的设计方法.首先,在离散系统中引入L阶差分算子,将预见重复控制设计问题转化为调节稳定性问题;然后,使用协状态和信息量的概念获得控制软约束信息来描述最优融合的过程,得到控制增量信息和增广误差系统协状态的最优估计滤波;最后,将有关预见重复控制器控制律所有信息融合,得到由状态反馈、重复控制和预见补偿构成的最优预见重复控制器.数字仿真结果表明,与独立的最优预见重复控制器相比,基于信息融合的最优预见重复控制器在更少的周期内达到稳定,且在有限的步数下,更能有效利用系统的未来有效信息,从而大幅提高跟踪精度. 相似文献
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针对一类匹配不确定非线性连续时间系统,本文提出一种具有预见与PI补偿的鲁棒滑模控制设计方法.首先,为提高系统的跟踪性能和鲁棒性,在常规的滑模控制基础上,引入前馈预见与PI控制器.然后,通过增加扩展系统状态变量方法,构造一个包含可预见的目标信号的不确定增广系统,并将控制器的设计问题转化为增广系统的稳定性问题.在此基础上,针对标称增广系统,应用最优控制原理,设计最优预见PI控制器;针对不确定增广系统,应用变结构控制方法,设计最优预见PI滑模控制器,实现不确定系统的鲁棒调节.所得结果推广和包含了已有文献中的一些结果.最后,数值仿真验证所提方法的有效性. 相似文献
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针对一类具有输入时滞的时变离散系统,研究其预见控制问题.利用差分算子的性质,对系统的输入时滞项和目标信号进行差分处理,构造包含目标信号但不含时滞的扩大误差系统.基于最优控制和预见控制的相关理论,得到了扩大误差系统带有预见前馈补偿的控制器.进一步,利用矩阵分解方法,将高阶Riccati方程进行降阶处理,从而得到原时滞系统的预见控制器.最后通过仿真实例验证了所提出方法的有效性. 相似文献
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研究一类输入多采样率型不确定离散时滞系统的鲁棒预见控制问题.首先,利用离散提升技术从形式上消除输入时滞和多采样率特点,将多采样率不确定系统的鲁棒预见控制问题转化为一个普通的单采样率不确定系统的鲁棒预见控制问题;然后根据预见控制的基本方法,构造出包含未来目标信息的扩大误差系统,并对其相应的标称系统设计预见控制器;最后,根据所设计的控制器和Lyapunov稳定性理论,给出不确定闭环系统的鲁棒稳定性判据.数值仿真结果验证了所提出设计方法的有效性. 相似文献
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基于二维混合模型的保成本重复控制 总被引:2,自引:0,他引:2
针对一类线性不确定系统, 提出一种基于二维混合模型的重复控制设计新方法, 研究具有反馈作用的保成本重复控制设计与优化问题. 首先, 为了提高系统稳定性, 将反馈控制器引入到重复控制系统中, 设计一种具有反馈作用的重复控制系统结构; 然后通过建立重复控制系统的连续/离散二维混合模型, 将重复控制器设计问题转化为一类连续/离散二维系统的状态反馈控制问题. 在此基础上, 对给定的线性二次型性能指标, 给出闭环系统的保成本重复控制律参数设计及其优化方法. 对所有容许的不确定性, 保成本重复控制使稳态跟踪误差渐近稳定的同时, 线性二次型性能指标值小于某个常数. 所得结果以线性矩阵不等式的形式给出, 可利用MATLAB工具箱方便地求解.最后, 数值仿真验证了本文所提方法的有效性. 相似文献
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This paper discusses the design of the optimal preview controller for a linear continuous-time stochastic control system in finite-time horizon, using the method of augmented error system. First, an assistant system is introduced for state shifting. Then, in order to overcome the difficulty of the state equation of the stochastic control system being unable to be differentiated because of Brownian motion, the integrator is introduced. Thus, the augmented error system which contains the integrator vector, control input, reference signal, error vector and state of the system is reconstructed. This leads to the tracking problem of the optimal preview control of the linear stochastic control system being transformed into the optimal output tracking problem of the augmented error system. With the method of dynamic programming in the theory of stochastic control, the optimal controller with previewable signals of the augmented error system being equal to the controller of the original system is obtained. Finally, numerical simulations show the effectiveness of the controller. 相似文献
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This paper presents the cooperative preview control method for continuous-time multi-agent systems with a time-invariant directed communication topology. First, the cooperative tracking preview control problem is transformed into the optimal regulation problem of an augmented system. Next, by applying the results of the standard optimal preview control of continuous-time linear systems, a controller of the augmented system is obtained. Furthermore, the stabilisability and detectability of the augmented system are studied under the fixed digraph and the prescribed leader. Then, we derive the controller of multi-agent systems with error integral and preview action that can guarantee the achievement of cooperative optimal preview tracking. Finally, the effectiveness of the controller is shown by numerical simulations. 相似文献
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《International journal of systems science》2012,43(14):2592-2603
ABSTRACTIn this paper, the preview control problem for a class of linear continuous time stochastic systems with multiplicative noise is studied based on the augmented error system method. First, a deterministic assistant system is introduced, and the original system is translated to the assistant system. Then, the integrator is employed to ensure the output of the closed-loop system tracking the reference signal accurately. Second, the augmented error system, which includes integrator vector, control vector and reference signal, is constructed based on the system after translation. As a result, the tracking problem is transformed into the optimal control problem of the augmented error system, and the optimal control input is obtained by the dynamic programming method. This control input is regarded as the preview controller of the original system. For a linear stochastic system with multiplicative noise, the difficulty being unable to construct an augmented error system by the derivation method is solved in this paper. And, the existence and uniqueness solution of the Riccati equation corresponding to the stochastic augmented error system is discussed. The numerical simulations show that the preview controller designed in this paper is very effective. 相似文献