带有界扰动的一类大型互联非仿射非线性系统\=的鲁棒分散控制

对带有界扰动的一类大型互联非仿射非线性系统进行了分散状态反馈控制设计．通过子系统状态的线性变换,得到分散状态反馈控制律．当状态反馈控制律作用于该系统时,无扰动的闭环系统是渐近稳定的;当扰动较小时,系统的状态能够收敛到原点的一个小邻域内．     

含非匹配互联项的一类大型互联非线性系统的鲁棒分散控制

本文对带有界扰动的一类含非匹配互联项的大型互联非线性系统进行了分散状态反馈控制设计, 通过子系统状态的线性变换, 得到分散状态反馈控制律. 当状态反馈控制律作用于该系统时, 无扰动的闭环系统是全局渐近稳定的, 当扰动有界时, 系统的状态能够收敛到原点的一个与扰动的界相关的邻域内, 并给出仿真算例说明该结论的可行性和有效性.     

一类不确定组合大系统的鲁棒分散控制

研究一类互联项与孤立了系统均含范数有界不确定性的非线性组合大系统的状态反馈鲁棒分散镇定问题,设计出线性状态反馈鲁棒分散控制器,使闭环系统在其平衡点处按指数渐近稳定,且鲁棒控制器具有全息结构,最后给出了一个数值例子,验证了所给结果的有效性。     

带有界扰动的一类非线性系统的鲁棒控制

对带有界扰动的一类非线性系统进行了状态反馈控制设计. 当状态反馈控制律作用于该系统时, 系统的状态能够收敛到原点的一个小邻域内.     

一类互联机器人系统鲁棒分散自适应控制

研究一类存在模型不确定性和外部扰动的互联机器人系统的控制问题.控制器由一般线性控制器,线性自适应控制器和非线性自适应控制器综合构成.通过Lyapunov理论证明设计的鲁棒分散自适应控制器能够有效地克服不确定性对系统的影响,实现闭环系统的渐近轨迹跟踪控制.最后给出一个仿真例子进一步验证控制器的有效性.     

带有不满足互联系统互联项的相似组合大系统的分散控制

研究一类相似组合大系统,系统的互联项不对称且不满足匹配条件。提出了互联条件的定义并把互联项分为两部分：一部分满足互联条件,可利用二步法设计方案,即首先设计出系统的假想互联项满足匹配条件,并利用它把系统改变成新的形式,然后基于系统的新形式,采用常规设计方法设计出系统的分散控制器;另一部分不满足互联条件,可依靠系统矩阵本身的性质抵消掉。该控制器的设计能确保系统是二次稳定的。     

相似广义互联系统的状态反馈鲁棒镇定

研究一类具有相同线性结构的相似广义互联系统，其互联项是非线性非匹配的且含有不确定性，运用Lyapunov方法和一般广义系统理论中状态反馈，受限等价概念，设计了状态反馈钽棒控制器，使系统渐近稳定且在状态响应中不包含脉冲项，研究结果表明，相似结构可简化广义组合系统的分析和设计。     

带有不满足互联条件互联项的相似组合大系统的分散控制

研究一类相似组合大系统,系统的互联项不对称且不满足匹配条件。提出了互联条件的定义并把互联项分为两部分：一部分满足互联条件,可利用二步法设计方案,即首先设计出系统的假想互联项满足匹配条件,并利用它把系统改变成新的形式,然后基于系统的新形式,采用常规设计方法设计出系统的分散控制器;另一部分不满足互联条件,可依靠系统矩阵本身的性质抵消掉。该控制器的设计能确保系统是二次稳定的     

一类非线性组合大系统的分散输出反馈鲁棒镇定

研究了不确定非线性子系统经不确定非线性互联而成的组合大系统,给出了其可分散输出反馈鲁棒镇定的充分条件,说明了所得结论的广泛适用性以及相似结构与全息特性的密切相关性.     

一类相似广义互联系统的异数—输出反馈鲁棒控制器设计

以广义系统中受限系统等价概念和导数反馈－输出反馈为基础,定义了一类广义互联系统的相似结构,提出了相似性研究的新方向。这类系统具有不满足匹配条件的非线性不确定互联项。设计了导致一输出反馈鲁棒分散控制器,使互联系统在平衡点处渐近稳定,由于控制器本身也具有相似结构,因此易于工程实现。     

Optimality of decentralized control for large-scale systems

A decentralized control scheme is given for the stabilization of large-scale linear systems composed of a number of controllable subsystems. A class of interconnection structures among subsystems is defined for which the overall system can always be stabilized by local state feedback which is optimal for a quadratic performance index. The resulting closed-loop system has robust stability properties against a wide range of variations in open-loop dynamics. Optimality of the decentralized control law is preserved for a modified performance index under perturbations in interconnections such that the strength of coupling does not increase. The class of decentrally stabilizable large-scale systems presented in this paper is the largest such class hitherto described by the structure of interconnections.     

Decentralized sliding mode control for a class of nonlinear interconnected systems by static state feedback

In this paper, a class of interconnected systems is considered, where the nominal isolated systems are fully nonlinear. A robust decentralized sliding mode control based on static state feedback is developed. By local coordinate transformation and feedback linearization, the interconnected system is transformed to a new regular form. A composite sliding surface which is a function of the system state variables is proposed and the stability of the corresponding sliding mode dynamics is analyzed. A new reachability condition is proposed and a robust decentralized sliding mode control is then designed to drive the system states to the sliding surface in finite time and maintain a sliding motion thereafter. Both uncertainties and interconnections are allowed to be unmatched and are assumed to be bounded by nonlinear functions. The bounds on the uncertainties and interconnections have more general forms when compared with existing work. A MATLAB simulation example is used to demonstrate the effectiveness of the proposed method.     

具有未建模动态的时变关联系统的鲁棒分散自适应镇定

针对一类具有动态、静态关联项和未建模动态的时变关联系统,通过利用反推设计方法和σ-修正自适应律,研究了鲁棒分散自适应镇定问题．当时变参数的变化率及未建模动态的幅值分别在某些范围内变化时,证明了闭环系统的所有信号都有界,且每一个子系统的输出与系统参数的变化率有关．仿真例子验证了控制方案的有效性．     

Characterizations of decentralized fixed modes for interconnected systems

A study of the characterization of decentralized fixed modes for large-scale interconnected systems is made. This is done by obtaining a recursive characterization of decentralized fixed modes, in which the existence of fixed modes of a ν-control agent system is expressed in terms of the existence of fixed modes of ν ? 1 control agent systems. An interpretation of these conditions is then made in the frequency domain. Simple conditions, in terms of the controllability of the system's subsystems, are then found for a composite system consisting of ν interconnected subsystems to have no decentralized fixed modes. This result clarifies some recent discussion on the fixed modes of interconnected systems; in particular, it proves that Fessas's conjecture is true for systems with two control agents, but false for systems with more than two control agents.     

严格反馈互联系统分散式backstepping自适应迭代学习控制

基于Lyapunov分析方法,针对具有严格反馈形式的非线性互联系统,本文设计了一种分散式backstepping自适应迭代学习控制器.子系统之间的互联项为所有子系统输出项线性有界,为每个子系统设计的控制器仅采用该子系统的信息,不需要子系统之间相互传递信息.在控制器中,引入在时间轴和迭代轴上同时更新的自适应参数,以补偿子系统之间的互联项影响.通过采用本文给出的控制器,可使得每个子系统的输出跟踪相应的参考模型输出,仿真结果验证了本文算法的有效性.     

具有干扰输入的大型互联线性系统的分散有限时间镇定

借助于大型互联线性系统有限时间稳定性的定义,对具有干扰输入的大型互联线性系统引入了分散有限时间镇定的概念,并对一类具有干扰输入的大型互联不确定线性系统进行了分散状态反馈和分散动态输出反馈控制器设计,利用线性矩阵不等式（LMI）方法,提出了一个充分条件.当反馈控制律作用于该系统时,闭环系统是有限时间稳定的.     

一类非线性时滞互联系统模糊分散输出反馈控制

对于一类状态不可测非线性互联时滞系统,给出一种基于观测器的模糊分散输出反馈控制方法.首先采用模糊T-S模型对非线性互联时滞系统进行模糊建模,在此基础上给出了模糊分散观测器和基于观测器的模糊分散输出控制器的设计.应用李亚普诺夫函数法和线性矩阵不等式方法给出了模糊分散控制系统稳定的充分条件.仿真结果进一步验证了所提出的模糊分散控制方法的有效性.     

Hierarchical computation of decentralized gains for interconnected systems

In this paper, the problem of computing the decentralized gains for linear, interconnected dynamical systems is treated as a constrained optimization problem. A two-level hierarchical computational structure is developed to determine the decentralized gains. At the lower level, two Lyapunov equations are solved whilst a predictive-corrective routine is used at the higher level. Simulation results of two control examples show that our two-level structure needs significantly less computational effort than previous approaches.     

Adaptive fuzzy decentralized control for nonlinear large-scale systems based on high-gain observer

An adaptive fuzzy decentralized backstepping output-feedback control approach is proposed for a class of nonlinear large-scale systems with completely unknown functions,the interconnections mismatched in control inputs,and without the measurements of the states.Fuzzy logic systems are employed to approximate the unknown nonlinear functions,and an adaptive high-gain observer is developed to estimate the unmeasured states.Using the designed high-gain observer,and combining the fuzzy adaptive control theory with backstepping approach,an adaptive fuzzy decentralized backstepping output-feedback control scheme is developed.It is proved that the proposed control approach can guarantee that all the signals of the closed-loop system are semi-globally uniformly ultimately bounded(SUUB),and that the observer errors and the tracking errors converge to a small neighborhood of the origin by appropriate choice of the design parameters.Finally,a simulation example is provided to show the eectiveness of the proposed approach.     

时滞关联大系统基于分散控制的无源性

无源性不仅是系统的一个重要性质,而且是控制一个系统的重要途径.本文基于分散控制方法研究了关联大系统的无源性.利用Lyapunov-Krasovskii泛函方法和Hamilton函数方法,通过求解线性矩阵不等式(LMIs)得到了分散无源控制器的显式表达.所得到的新的无源性判据和无源控制器的参数是与时滞相关的.当关联时滞已知时,这些新结果的条件易于用Matlab中的LMI工具箱进行验证,因而控制器的设计也容易实现.最后用数值例子说明了所得到定理的有效性和无源控制器的设计过程.