一类不确定性系统的多目标智能控制

针对一种不确定性非线性过程且其控制需要较多人为判断的控制系统,作者提出了采用各个不同位置温度测量值的加权平均作为控制器的反馈输入,该控制器则兼有变参数ＰＩＤ调节器和实时专家系统的优点,并可根据实际的进程和效果,采用在线调整工艺设定值的多目标控制策略,其效能通过运行结果加以说明。     

一类参数不确定性系统的鲁棒控制

讨论了带有分母多项式摄动的参数不确定性系统的鲁棒镇定问题,给出了这类参数不确定性系统存在鲁棒控制器的一个充分条件,并且当这个条件被满足时,得到了部分鲁棒控制器的一个参数化公式.     

参数不确定性系统二次保性能控制的鲁棒性

讨论参数不确定性系统二次保性能控制的鲁棒性问题,给出了一种参数依赖的二次保性能控制鲁棒界,以及通过优化该鲁棒界来增加二次保性能闭环控制系统鲁棒性的算法和优化步骤。     

基于调节函数的一类三角结构非线性系统的自适应滑模控制

针对一类三角结构的非线性系统,基于状态参考自适应控制算法和滑模控制技术,研究了其在非匹配未知参数和不确定性干扰下的跟踪控制问题,提出了自适应滑模控制策略,实现了不确定非线性系统的鲁棒输出跟踪.与一般自适应控制相比,允许系统存在非参数化的不确定性和未知扰动,增强了控制系统鲁棒性.仿真算例证明了理论研究成果的正确性和可行性.     

一类具有非线性不确定性的时滞系统鲁棒控制

研究一类具有非线性不确定参数以及状态滞后线性系统的时滞依赖鲁棒稳定性判据和鲁棒镇定问题。提出了新的鲁棒可镇定判据和相应的鲁棒无记忆状态反馈控制器设计方法,导出的时滞依赖结果以线性矩阵不等式的形式给出。     

带量测不确定性的非线性系统的镇定调节

本文考察带量测不确定性的一类非线性系统的镇定与调节问题。文中得到的调节控制器具有量测输出反馈的解析形式。理论分析表明,对具有比较典型的一类量测不确定性的非线性系统,采用本文给出的镇定和调节控制器,能实现非线性系统的镇定和输出调节。     

一种非线性动力学系统不确定性模型的混沌控制

本文研究了Duffing模型非线性动力学系统具有不确定性模型时的混沌控制。当系统处于混沌状态时,采用Lyapunov型的控制律,并在控制律中引入改进的控制补偿项。用以补偿系统模型不确定性对于控制效果的影响,且控制律中不需要获得激励项的频率参数的估计值及激励项的相位变化,控制稳定且具有鲁棒性。理论分析和仿真验证表明了混沌控制算法的有效性。     

具Frobenius有界不确定性广义系统的鲁棒稳定性

研究了具Frobenius有界不确定性广义系统的稳定与鲁棒镇定问题. 通过对代数Riccati不等式或代数Riccati方程的求解, 获得了不确定广义系统广义二次稳定的充要条件, 使得对所有容许的不确定参数, 系统是稳定, 正则和无脉冲. 而且, 根据一类矩阵方程, 构造了使不确定广义系统鲁棒镇定的状态反馈控制器的设计方法. 实例说明了上述方法的有效性.     

一类含参数不确定性混沌系统的控制

给出一类含参数不确定性混沌系统的控制器设计方法 .用该方法设计的控制器 ,能够使系统消除混沌并鲁棒渐近稳定到任何期望的光滑轨道 .设计过程无需预先知道未知参数的估计值和精确值 .直接构造混沌控制器 ,方法简单 .仿真验证了其有效性     

基于观测器的鲁棒H2控制器设计

研究了一类含有参数不确定系统的观测器型鲁棒H2控制器的设计问题.基于状态反馈和观测器设计的可分离性原理,给出了控制器存在的充分条件和系统H2性能指标的一个上界.利用线性矩阵不等式凸优化方法还得到了使该界达到最小的观测增益.     

Uncertain variables and learning algorithms in knowledge-based control systems

This paper concerns a class of knowledge-based control systems with unknown parameters in the knowledge representation describing a plant. For the deterministic case, the logic-algebraic method of determination of the control decisions has been developed. The purpose of this paper is to present an extension of this method for the case with unknown parameters. In the first part, an approach based on uncertain variables is presented. In the second part, the method and algorithms of current knowledge updating in the learning system are proposed. The main idea of this approach consists of a step-by-step estimation of the unknown parameters in the knowledge representation using the successive values of the control decisions and their results. This concept may be considered as an extension of the known ideas of identification and adaptation for the traditional case. This work was presented, in part, at the Third International Symposium on Artificial Life and Robotics, Oita, Japan, January 19–21, 1998     

基于观测器的鲁棒H_2控制器设计

研究了一类含有参数不确定系统的观测器型鲁棒 H2 控制器的设计问题 .基于状态反馈和观测器设计的可分离性原理 ,给出了控制器存在的充分条件和系统 H2 性能指标的一个上界 .利用线性矩阵不等式凸优化方法还得到了使该界达到最小的观测增益 .     

Zero-error regulation of discrete-time linear periodic systems

In this paper the regulation problem for discrete-time linear periodic systems is investigated. A control structure is introduced which is shown to be capable of robustly zeroing the asymptotic error produced by periodically time-varying exogenous signals. The cases when the plant is time-invariant and/or the exogenous signals are constant are discussed.     

A global state feedback output regulating control for uncertain systems in strict feedback form

A family of single-input, single-output, nonlinear systems in strict feedback form with uncertain constant parameters which appear linearly and belong to a known compact set Π is considered. A global robust output regulation problem via state feedback is addressed and solved under the assumptions that the regulator equations are solvable in Π, the output equation does not depend on uncertain parameters, no modelled disturbances affect the system and the output reference signal is generated by a known exosystem whose state is bounded and available for feedback. Robust adaptive techniques are used to guarantee closed loop boundedness and to achieve, without requiring persistency of excitation, global asymptotic output regulation for a class of feedback linearizable systems which may have unbounded uncertain tracking dynamics or may not have a well-defined global relative degree.     

参数不确定线性系统混合H2/H∞状态反馈控制

对一类含有范数有界参数不确定线性系统的混合H2/H∞状态反馈控制问题进行了研究.给出了系统一个输出在满足给定的H∞干扰衰减约束条件下,其另一个输出的H2性能指标所满足的上界,并利用Lagrange乘子法导出了使得该界达到最小的\"最优的\"状态反馈控制器.结果仅需求解一个含有两个尺度参数的修正代数Riccati方程.而且数值结果表明该方法是非常有效的.     

On consensus algorithms of multiple uncertain mechanical systems with a reference trajectory

This paper considers the consensus problem of multiple uncertain mechanical systems with a desired trajectory as an agreement vector. In the consensus problem, a desired trajectory is available to a portion of a group of mechanical systems. Distributed adaptive/robust control laws are proposed such that the state of each system asymptotically converges to the desired trajectory with the aid of information interchange between systems. Simulation results show effectiveness of the proposed controllers.