共查询到17条相似文献,搜索用时 94 毫秒
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针对传统控制方法鲁棒性不强以及配置极点复杂的问题,本文中提出了一种基于T-S模型的最优模糊多模型切换控制方法,将T-S模型、线性二次型最优控制器设计以及多模型切换控制三者结合起来。该方法首先对每个T-S模糊模型的线性子系统设计LQR控制器,再把每个控制器乘以其权重求和得到全局LQR控制器,满足线性二次型性能指标最小的条件下,获得状态反馈矩阵,即提高了系统的鲁棒性,且避免了配置极点的复杂工作。在模糊规则数相同的情况下,多模型切换由于模糊论域的变小而提高了线性逼近精度,实现对整体非线性系统的逼近与控制。仿真实验结果验证了这种方法的有效性。 相似文献
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针对离散不确定输出概率密度函数控制系统存在的保守性问题,提出基于线性矩阵不等式神经控制的保性能控制算法。该控制算法是在线性矩阵不等式设计的基础上,加入附加增益的状态反馈控制,在控制器设计时用神经控制器调控附加增益,降低系统的保守性,同时利用线性矩阵不等式的方法给出保性能控制算法的可行性条件。通过实验证明,该保性能控制算法能够降低系统保守性,能较好地改善系统鲁棒性和稳定性。 相似文献
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平面二级倒立摆的保性能控制 总被引:1,自引:0,他引:1
摆系统是一个强耦合、非线性、高阶次的不稳定系统,常规控制方法如PID算法、最优控制算法等。由于摆系统的数学模型是在忽略了次要因素的基础上得出来的,当系统受到外部的干扰时,这些次要因素的影响比较突出,控制系统采用基于线性矩阵不等式的方法设计一系统性能上界最小的最优保性能控制律,以改善系统的瞬态性与鲁棒性。然后采用Matlab的工具箱设计该控制律,并对系统进行仿真。最后采用VC++6.0编写控制程序,实现对平面二级摆系统的实时控制。 相似文献
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摆系统是一个典型的强耦合、非线性、高阶次的不稳定系统,常规控制方法如算法、最优控制算法等.由于摆系统的数学模型是在忽略了次要因素的基础上得出来的,当系统受到外部的干扰时,这些次要因素的影响比较突出,控制系统采用基于线性矩阵不等式的方法设计一系统性能上界最小、保守性最低的最优保性能控制律,以改善系统的瞬态性与鲁棒性.然后采用的工具箱设计该控制律,并对系统进行仿真.最后采用3.1编写控制程序,实现对平面二级摆系统的实时控制. 相似文献
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为了克服现有双足蝶形直线超声电机驱动的一维平台定位中的摩擦驱动非线性,本文基于电机工作原理和扇形非线性特性建立了电机及平台的模糊Takagi-Sugeno(T-S)模型。基于该T-S模型,采用系统增广的方法设计了无静态误差伺服定位控制算法;设计中考虑了鲁棒H∞性能,使得该非线性系统的模糊控制器具有较好干扰抑制性能和鲁棒性。采用嵌入式微控制器实现了所设计的控制算法,并进行了不同步进值的伺服定位控制实验。实验结果显示,在不同步进值下系统的超调量小于4%;在空载和带载荷的状态下对伺服定位控制实验数据的对比显示,系统最大超调量小于5%。与传统PID控制算法相比,本文提出的控制系统具有较高的定位精度,良好的运动平稳性和鲁棒性。 相似文献
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本文针对温控系统的大时滞特性,提出了基于Smith预估控制的设计方法。对Simulink仿真和常规PID控制方法进行比较,分析了Smith预估控制在模型参数发生变化时的系统性能。仿真结果表明,Smith预估控制具有很好的鲁棒性,可以改善系统的动态性能,提高控制品质。 相似文献
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刘石红 《工业仪表与自动化装置》2016,(6):3-7
针对离散非线性系统,提出一种基于T-S模糊模型的广义预测控制方法。该方法将采样点的T-S模糊模型转化为采样点线性模型与非线性误差叠加的线性形式,通过迭代修正非线性误差,使具有非线性误差的线性模型预测控制律逐渐逼近采样点T-S模糊模型预测控制律。同时,该预测控制方法也能适用于当系统受输入输出约束时的控制。仿真结果验证了所提出的TS模糊模型广义预测方法有效。 相似文献
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针对传统RF缆放卷设备控制系统的局限性,从系统的角度建立RF缆放卷系统的T-S模糊模型,设计了放卷系统内模控制器,构建了RF缆放线设备的内模控制系统。实验结果表明,与传统的"变频器+电机"的PID控制比较,文中设计的基于T-S模型的非线性内模控制系统有着更好的控制精度和鲁棒性。 相似文献
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This paper aims to investigate the problem of resilient guaranteed cost control for uncertain Takagi–Sugeno fuzzy systems with Markov jump parameters and time-varying delay. A resilient mode-dependent fuzzy controller is designed and a weak sufficient condition is developed to ensure that the resulting closed-loop system is robust almost surely asymptotically stable with guaranteed cost index not exceeding the specified upper bound. Subsequently, the controller gain and upper bound of the guaranteed cost index can be obtained by solving a set of linear matrix inequalities. Finally, numerical and practical examples of the single-link robot arm system are provided to demonstrate the performance of the proposed approach. 相似文献
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This paper is concerned with the guaranteed cost control for continuous-time singular Markovian jump systems with time-varying delay. Without using the free weighting matrices method, a delay-range-dependent condition is derived in terms of strict linear matrix inequality (LMI), which guarantees that the singular system is regular, impulse free and mean-square exponentially stable with an H(∞) performance. Based on this, the existence condition of the guaranteed cost state feedback controller is proposed. A numerical example is given to illustrate the effectiveness and less conservatism of the proposed design method. 相似文献
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To investigate the energy consumption involved in a sampled-data consensus process, the problem of guaranteed cost consensus for sampled-data linear multi-agent systems is considered. By using an input delay approach, an equivalent system is constructed to convert the guaranteed cost consensus problem to a guaranteed cost stabilization problem. A sufficient condition for guaranteed cost consensus is given in terms of linear matrix inequalities (LMIs), based on a refined time-dependent Lyapunov functional analysis. Reduced-order protocol design methodologies are proposed, with further discussions on determining sub-optimal protocol gain and enlarging allowable sampling interval bound made as a complement. Simulation results illustrate the effectiveness of the theoretical results. 相似文献
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In this paper, a robust guaranteed cost controller (RGCC) is proposed for quadrotor UAV system with uncertainties to address set-point tracking problem. A sufficient condition of the existence for RGCC is derived by Lyapunov stability theorem. The designed RGCC not only guarantees the whole closed-loop system asymptotically stable but also makes the quadratic performance level built for the closed-loop system have an upper bound irrespective to all admissible parameter uncertainties. Then, an optimal robust guaranteed cost controller is developed to minimize the upper bound of performance level. Simulation results verify the presented control algorithms possess small overshoot and short setting time, with which the quadrotor has ability to perform set-point tracking task well. 相似文献
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Developed is a robust model predictive control scheme for a class of discrete-time switched linear systems. The system is described in linear fractional transformation form in the presence of model uncertainty and induced norm bounded disturbances. The objective is to minimize the upper bound of an infinite horizon cost function subject to a terminal inequality. A Lyapunov function analysis for the switched system shows guaranteed closed-loop stability. Taking into account the switching structure of the system, the predictive control design problem along with sufficient conditions for the existence of a solution is expressed in terms of Riccati–Metzler inequalities. Then, these inequalities are turned into a linear matrix inequality feasibility problem. Three cases are analyzed to demonstrate the performance and effectiveness of the proposed robust model predictive controller for switched discrete-time linear systems. 相似文献