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鲁棒镇定区间系统族的一个充分条件 总被引:3,自引:0,他引:3
讨论了区间系统族的鲁棒镇定问题,给出存在控制器鲁棒镇定区间系统族的一个充分条
件,并且当这个条件成立时,得到了鲁棒镇定区间系统族的控制器的参数化公式. 相似文献
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具有输入饱和的非线性关联大系统的分散控制 总被引:1,自引:0,他引:1
考虑了一类具有输入饱和的不确定非线性关联大系统的分散输出反馈鲁棒镇定问题,利用Riccati方程的方法和矩阵的Moore-Penrose逆给出了这类系统的一种分散输出反馈鲁棒镇定控制器的设计方法.同时,考虑了一类具有输入饱和的不确定非线性相似关联大系统,利用相似系统的结构特点,简化了分散输出反馈鲁棒镇定的条件. 相似文献
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执行器失效不确定时滞系统的指定衰减度鲁棒可靠控制 总被引:8,自引:0,他引:8
针对一类含有时变时滞的不确定参数线性系统,研究了在执行器发生故障情况下的鲁棒可靠控制器设计问题.系统中的参数不确定性满足广义匹配条件,时变时滞的大小及其变化率有界,并假设故障执行器元件的输出为零.经过适当的模型变换,将原系统的鲁棒指数镇定问题转化为另一个等价系统的鲁棒镇定问题.根据Lyapunov稳定性理论和线性矩阵不等式(LMI)方法,分别给出了鲁棒可靠控制器存在的时滞无关和时滞相关充分条件.仿真结果表明了该控制器设计方法的有效性. 相似文献
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具有滞后输入的不确定系统的鲁棒镇定 总被引:11,自引:0,他引:11
本文研究具有滞后输入的不确定系统的鲁棒镇定问题,导出了系统可以用一个无记忆状态反馈控制律鲁棒镇定的条件,据此,提出了一个鲁棒稳定化控制器的设计方法. 相似文献
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We consider the problem of robust performance analysis when some of the exogenous inputs acting on the system are assumed to be fixed and known, while others are unknown but bounded. In particular, we consider the case where performance is measured by the ?∞ norm of the output signals, and the uncertainty on the nominal model is described by LTV perturbations of bounded ?∞‐induced norm. We first address the special case when all the exogenous inputs are fixed and known. We propose upper and lower bounds for the measure of robust performance. Two upper bounds are derived, which trade off accuracy versus computational expense. Both conditions are much less conservative than what one would obtain from assuming a worst‐case exogenous input. We then generalize the conditions to the more general case, where both fixed and worst‐case inputs act on the system. All these conditions are readily computable, and yield much less conservative results than one would obtain from applying standard worst‐case analysis methods. Copyright © 2005 John Wiley & Sons, Ltd. 相似文献
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基于二阶运动学模型的移动机器人主从跟踪系统的鲁棒控制 总被引:1,自引:0,他引:1
In this paper, we study the problem of modeling and controlling leader-follower formation of mobile robots. First, a novel kinematics model for leader-follower robot formation is formulated based on the relative motion states between the robots and the local motion of the follower robot. Using this model, the relative centripetal and Coriolis accelerations between robots are computed directly by measuring the relative and local motion sensors, and utilized to linearize the nonlinear system equations. A formation controller, consisting of a feedback linearization part and a sliding mode compensator, is designed to stabilize the overall system including the internal dynamics. The control gains are determined by solving a robustness inequality and assumed to satisfy a cooperative protocol that guarantees the stability of the zero dynamics of the formation system. The proposed controller generates the commanded acceleration for the follower robot and makes the formation control system robust to the effect of unmeasured acceleration of the leader robot. Furthermore, a robust adaptive controller is developed to deal with parametric uncertainty in the system. Simulation and experimental results have demonstrated the effectiveness of the proposed control method. 相似文献
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模型跟踪广义预测鲁棒自适应控制器 总被引:5,自引:1,他引:4
本文采用滤波CARMA模型,基于内模原理,提出了一种新的广义预测鲁棒自适应控制器,并分析了闭环系统性能,在新的控制器中,引入适当的前馈作用,使得跟踪和调节问题解耦,利用部分状态跟踪、模型参考以及极点配置方法解决跟踪问题,利用多步预测滚动优化方法解决调节问题;适当选择滤波器可以保证对平稳随机扰动有满意的响应,减少可调参数对闭环系统响应的影响,增强系统对未建模动态的鲁棒性,仿真结果表明:该控制器对确定性和非平稳随机扰动具有不变性,对系统时延和阶次变化具有鲁棒性,适用于非最小相位和开环不稳定系统。 相似文献
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R. A. BROOKS 《International journal of control》2013,86(5):985-991
This paper presents an application of results proved elsewhere for linear control problems formulated as minimum norm problems in Hilbert space, to extend the classical separation theorem to a larger class of systems. This larger class is not required to have gaussian statistics, and the observables are allowed to depend in an arbitrary linear fashion on present and past values of the state vector. The results obtained are a consequence of the Hilbert space projection theorem, and the separation theorem is proved without appeal to either the explicit form of the estimator or dynamic programming and the principle of optimality. 相似文献
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An aircraft's response to control inputs varies widely throughout its full flight envelope. Furthermore, the aircraft configuration impacts control response through variations in centre of gravity and moments of inertia. Quantitative feedback theory (QFT) is a robust control system design method which provides a full-envelope flight control system design and gives the engineer direct control over compensator order and gain. A full subsonic flight envelope FCS is designed for using QFT for four representative aircraft configurations. Flying qualities are embedded in the longitudinal design by using a control variable which varies with the aircraft's energy state throughout the flight envelope. Linear simulations with realistically large control inputs are used to validate the design. © 1997 by John Wiley & Sons, Ltd. This paper was prepared under the auspices of the US Government and it is therefore not subject to copyright in the US. 相似文献
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本文研究的问题如下,对于具有构造型不确定性的被控对象,设计一动态反馈控制器,使得闭环系统满足H∞鲁棒次优性能要求。同时,对于满足给定微分方程的参考输入信号,具有鲁棒调节性能。研究结果表明,通过解一适当的H∞标准设计问题可以得到理想的控制器。基于黎卡提不等式的正定解,给出了控制器的具体设计方法。最后,还给出了该设计方法在二自由度机械手上应用的实验结果。 相似文献
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不确定线性系统的鲁棒切换函数变结构控制 总被引:6,自引:2,他引:4
针对工程领域中常见的一类不匹配不确定系统,即不确定性不是发生在控制通道中的系统,如工程中具有执行器的控制系统,提出了一种建立鲁棒切换函数的方法,进面设计滑模变结构鲁棒控制策略,该策略可确保整个闭环系统的轨迹是一致最终有界并具有稳定性,最后以船舶减摇鳍控制系统为例,进行了变结构鲁棒控制器设计。 相似文献