变参考轨迹下的鲁棒迭代学习模型预测控制

迭代学习模型预测控制是针对间歇过程的先进控制方法.它能通过迭代高精度跟踪给定参考轨迹,并保证时域上的闭环稳定性.然而,现有的迭代学习模型预测控制算法大多基于线性/线性化系统,且没有考虑参考轨迹变化的情况.本文基于线性参变系统提出一种能有效跟踪变参考轨迹的鲁棒迭代学习模型预测控制算法.首先,采用线性参变模型准确涵盖原始非线性系统的动态特性.然后,将鲁棒H∞控制与传统迭代学习模型预测控制相结合,抑制变参考轨迹带来的跟踪误差波动,通过优化线性矩阵不等式约束下的目标函数求得控制输入.深入分析了鲁棒迭代学习模型预测控制的鲁棒稳定性和迭代收敛性.最后,通过对数值例子和连续搅拌反应釜系统的仿真验证了所提出算法的有效性.     

微小型自主直升机自抗扰控制

针对微小型直升机建模困难,而且内部和外部扰动都比较大的问题,提出一种基于自抗扰控制的飞行 控制方法．按照飞行控制的要求改进了原算法的扩张状态观测器离散方程和非线性反馈函数．起飞、悬停和强风中 飞行控制仿真验证了改进的自抗扰控制方法的有效性．     

不确定线性系统鲁棒迭代学习控制器设计及应用

针对一类不确定线性系统提出鲁棒迭代学习控制器设计方法,且通过求解Riccati方程方法设计鲁棒迭代学习控制器,并基于Lyapunov理论推导出不确定线性系统收敛充要条件。该控制器具有阶次低,易于实现等特点。所提出的控制方案保证系统跟踪在有限的迭代步骤内达到较好的控制效果。最后以机器人为仿真对象,仿真结果表明该设计方法的有效性和可行性。     

A Survey of Output Feedback Robust MPC for Linear Parameter Varying Systems

For constrained linear parameter varying (LPV) systems, this survey comprehensively reviews the literatures on output feedback robust model predictive control (OFRMPC) over the past two decades from the aspects on motivations, main contributions, and the related techniques. According to the types of state observer systems and scheduling parameters of LPV systems, different kinds of OFRMPC approaches are summarized and compared. The extensions of OFRMPC for LPV systems to other related uncertain systems are also investigated. The methods of dealing with system uncertainties and constraints in different kinds of OFRMPC optimizations are given. Key issues on OFRMPC optimizations for LPV systems are discussed. Furthermore, the future research directions on OFRMPC for LPV systems are suggested.      

Robust Optimization-Based Iterative Learning Control for Nonlinear Systems With Nonrepetitive Uncertainties

This paper aims to solve the robust iterative learning control(ILC)problems for nonlinear time-varying systems in the presence of nonrepetitive uncertainties.A new optimization-based method is proposed to design and analyze adaptive ILC,for which robust convergence analysis via a contraction mapping approach is realized by leveraging properties of substochastic matrices.It is shown that robust tracking tasks can be realized for optimization-based adaptive ILC,where the boundedness of system trajectories and estimated parameters can be ensured,regardless of unknown time-varying nonlinearities and nonrepetitive uncertainties.Two simulation tests,especially implemented for an injection molding process,demonstrate the effectiveness of our robust optimization-based ILC results.     

一类不确定线性系统的鲁棒自适应控制

针对一类同时具有匹配不确定性和不匹配政治面目 确定性的线性系统,首先采用李雅普诺夫稳定性定理,结合基于矩阵不等式的鲁棒控制器设计方法和变结构控制方法,设计鲁棒控制器,使得闭环系统是二次渐近稳定的,然后,利用自适应参数估计方法,设计具有匹配不确定性范数界估计能力的鲁棒自适应控制器,保证闭环系统的一致终结有界,在此基础上,进一步考虑系统中可能的未知不确定性,分析闭环系统的鲁棒性,并得到了相应的控制器设计方法。     

A Switched System Approach to Robust Stabilization of Networked Control Systems with Multiple Packet Transmission

This paper considers robust stabilization of networked control systems (NCSs) with the problem of multiple packet transmission. Two parts of uncertainties are considered in this paper: norm‐bounded parameter uncertainties in the plant, and norm‐bounded parameter uncertainties in the controller. For sensor nodes and actuator nodes communicating through a limited communication channel, we are particularly interested in the case that only one packet containing part of the state information can be transmitted through a toking‐bus every time. Stability of the NCSs with multiple packet transmitted in a periodic manner is closely related to that of periodically switched systems. For NCSs with and without uncertainties in the plant and the controller, stabilizing state feedback controllers are constructed in terms of linear matrix inequalities (LMIs). Numerical examples are given to illustrate the feasibility and effectiveness of the proposed approach.     

奇异摄动系统的鲁棒控制与仿真研究

研究参数不确定奇异摄动系统的状态反馈镇定问题,得到基于线性矩阵不等式（LMI）的系统状态反馈可镇定的充分条件,给出状态反馈控制器的设计算法。算例验证了该方法的可行性与有效性。而且,这种方法同时适用于标准奇异摄动系统和非标准奇异摄动系统的控制。最后通过例子进行了详细的仿真研究。     

Robust Control Design of Wheeled Inverted Pendulum Assistant Robot

This paper examines the design concept and mobile control strategy of the human assistant robot I-PENTAR (inverted pendulum type assistant robot). The motion equation is derived considering the non-holonomic constraint of the twowheeled mobile robot. Different optimal control approaches are applied to a linearized model of I-PENTAR. These include linear quadratic regulator (LQR), linear quadratic Gaussian control (LQG), H₂ control and H_∞ control. Simulation is performed for all the approaches yielding good performance results.      

具有短时延的网络控制系统的一种鲁棒控制方法

针对具有短时延的网络控制系统, 本文提出了一种基于鲁棒控制的方法来解决该类系统的稳定化控制问题. 考虑状态反馈控制律, 将闭环网络控制系统描述为一个离散时间线性不确定系统模型, 其中的不确定部分反映了时延的时变特性对系统动态的影响. 得到了该闭环网络控制系统的渐近稳定性条件, 且该条件建立了闭环网络控制系统稳定性与两个时延参数, 即允许时延上界和允许时延变换范围, 之间的定量关系. 进一步的, 还给出了稳定化反馈控制器的设计步骤. 最后通过一个示例验证了本文所提出方法的有效性.     

单向通信拓扑领航者动态未知线性多智能体系统的协同迭代学习控制

研究单向通信拓扑领航者动态未知线性多智能体系统的协同跟踪问题.基于邻居的相对状态信息,设计了分布式迭代学习控制律实现对领航者的协同跟踪控制,采用Lyapunov-Krasovskii函数分析闭环系统的稳定性与收敛性.进而,将状态反馈结论拓展到输出反馈,通过构造局部观测器估计不可量测的状态信息,采用估计的相对状态信息设计了分布式迭代学习控制器.对于以上两种情形,多智能体系统在通讯拓扑含有生成树的条件下能够实现与领航者的状态同步,同时,所设计的分布式迭代学习律能够对领航者未知输入进行精确估计.仿真实例验证了所提方法的有效性.     

离散非线性系统的鲁棒模糊协方差控制

针对T-S模糊模型描述的一类不确定非线性离散系统,研究使闭环系统的稳态方差小于某个给定上界,同时闭环极点位于给定圆盘中的状态反馈鲁棒协方差控制律设计问题,并导出以一组线性矩阵不等式表示的控制律的存在条件。     

基于SOS技术的多项式非线性系统鲁棒控制综合

针对一类具有多项式向量场的仿射不确定非线性系统,借助多项式平方和(Sum of Squares, SOS)技术,研究其状态反馈鲁棒控制综合问题。给出了该类系统鲁棒镇定控制、以及带有保性能和H性能目标的优化控制问题的充分可解性条件。所给出的条件均被描述为由状态依赖线性矩阵不等式(LMI)组成的SOS规划,可由SOS技术直接求解。此外,通过引入附加变量给出了描述多项式矩阵的逆以及有理式矩阵的方法。最后,通过数值仿真验证了方法的有效性     

Disturbance decoupling of switched linear systems

In this paper, we consider disturbance decoupling problems for switched linear systems. We will provide necessary and sufficient conditions for three different versions of disturbance decoupling, which differ based on which signals are considered to be the disturbance. In the first version, the exogenous input is considered as the disturbance, in the second, the switching signal and in the third both of them are considered as disturbances. All three versions of disturbance decoupling have direct counterparts for linear parameter-varying (LPV) systems, while the latter instance of the problem is relevant for disturbance decoupling of piecewise linear systems, as we will show. The solutions of the three disturbance decoupling problems will be based on geometric control theory for switched linear systems and will entail both mode-dependent and mode-independent static state feedback.     

Robust Finite‐Time H∞ Control of a Class of Disturbed Systems using Lmi‐Based Approach

In this paper, the definition of robust finite‐time H_∞ control is presented for a class of disturbed systems. Time‐varying norm‐bounded exogenous disturbance is considered in the system. A state feedback controller is designed, via a Linear Matrix Inequalities (LMIs) approach, which ensures that the closed‐loop system is finite‐time bounded (FTB) and reduces the effect of the disturbance input on the controlled output to a prescribed level. The main result, derived by Lyapunov functions, is a sufficient condition for FTB of disturbed systems and the sufficient condition can be reduced to a feasibility problem involving LMIs. Then a DC motor position control problem is simulated as a demonstration for this study. Simulation results are presented to show the effectiveness of the proposed method as a promising approach for controlling similar disturbed systems.     

一类结构不确定采样系统的鲁棒控制

针对一类结构不确定性线性采样系统，在时域中用Lyapunov方法研究采样系统的鲁棒控制及最优鲁棒控制，给出了系统鲁棒稳定的充分条件以及相应的鲁棒控制律，控制律的求取借助于求解一类线性矩阵不等式（LMI），或求解满足特定线性不等式条件下的优化问题，算例结果表明，采样周期是一个关键性的设计参数。     

线性参数变化系统建模与控制研究进展

在描述实际系统的非线性和时变特性方面, 线性参数变化(Linear parameter varying, LPV)模型有着巨大的优越性, 对于使用一些成熟的线性系统控制理论来解决非线性系统的控制问题, 提供了良好的手段.文章对LPV系统的模型结构和建模方法, 模型参数辨识方法, 控制方法以及应用领域等方面的近几年的研究成果, 做了比较全面的总结和概括, 最后对LPV系统建模和控制的未来研究方向进行了展望.     

一类具有非线性扰动的多重时滞不确定系统鲁棒预测控制

针对一类具有非线性扰动且同时存在多重状态和输入时滞的不确定系统, 提出 一种鲁棒预测控制器设计方法. 基于预测控制滚动优化原理, 运用Lyapunov稳定性 理论和线性矩阵不等式 (Linear matrix inequalities, LMIs)方法, 首先近似求解无限时域二次性能指标优化问题, 然后优化非 线性扰动项所应满足的最大上界, 定量地研究鲁棒预测控制在范数有界意义下的扰动抑制 问题, 并给出了鲁棒预测控制器存在的充分条件. 最后通过仿真验证了所提方法的有效性.     

一类线性离散切换系统的迭代学习控制

考虑具有任意切换序列线性离散切换系统的迭代学习控制问题. 假设切换系统在有限时间区间内重复运行, P型ILC算法可实现该类系统在整个时间区间内的完全跟踪控制. 采用超向量方法给出了算法在迭代域内收敛的条件, 并在理论上分析了的收敛性. 仿真示例验证了理论的结果.     

Robust Admissibility and Stabilization of Uncertain Singular Fractional-Order Linear Time-Invariant Systems

This paper addresses the robust admissibility problem in singular fractional-order continuous time systems. It is based on new admissibility conditions of singular fractional-order systems expressed in a set of strict linear matrix inequalities (LMIs). Then, a static output feedback controller is designed for the uncertain closed-loop system to be admissible. Numerical examples are given to illustrate the proposed methods.