基于遗传算法的欠驱动机械臂优化控制研究

欠驱动系统是一类控制器少于系统自由度的二阶非完整系统。提出一种基于遗传算法优化的摇起控制器设计。该控制器主要用于控制Acrobot系统的摇起运动。首先运用部分反馈线性化的状态反馈控制设计摇起控制器,然后利用遗传算法对摇起控制器的三个参数进行在线自调整优化,以确保Acrobot摇起的动态性能达到最优化,为平滑而稳定地切换到平衡控制器提供保障。计算机仿真结果显示,该方法能大大缩短系统摇起到进入平衡状态的时间,并具有良好的动态性能。     

δ算子下的网络控制系统最优控制方法

研究网络控制系统的随机最优控制问题,提出了针对随机时延的网络控制系统最优控制律和二次型性能指标极小的控制律设计方案．在δ算子域内应用动态规划理论．设计网络控制系统的最优状态反馈和输出反馈控制律,得到的线性二次型高斯控制器可对系统中的随机长时延进行动态补偿．最后通过实例仿真验证了上述最优控制方案的可行性和有效性．     

Performance recovery under output feedback sampled-data stabilization of a class of nonlinear systems

This paper studies sampled-data output feedback control of a class of nonlinear systems. It is shown that the performance of a stabilizing continuous-time state feedback controller can be recovered by a sampled-data output feedback controller when the sampling period is sufficiently small. The output feedback controller uses a deadbeat discrete-time observer to estimate the unmeasured states. Two schemes are proposed to overcome large initial transients when the controller is switched on.     

一种新型自调节灰色预测控制器

提出一种结合传统反馈控制方法和灰色预测控制的新型自调节灰色预测控制器，可对系统当前输出误差和预测系统输出误差进行合成形成一个综合误差，并用综合误差代替传统反馈控制方法中的实际误差项，这样控制器可根据系统当前和将来的响应来计算控制律．该控制器可根据预测精度来自动调整控制器参数，使控制器对系统响应具有适应性．仿真结果表明，与传统反馈控制方法相比，该控制器可获得更为优良的动态性能和鲁棒性．     

T-S模糊系统输出反馈控制器的稳定性分析与设计

输出反馈控制是T-S模糊控制系统设计的一种重要方法．本文提出了一类由模糊状态观测器和模糊调节器构成的输出反馈控制器稳定性分析和解析设计的新方法．为了减小稳定性分析的保守性和难度,本文充分利用了模糊规则前件变量模糊隶属度函数的结构信息,对前件变量采用标准模糊分划的T-S模糊系统输出反馈控制器进行了研究,获得了一些新的稳定性条件．然后采用平行分布补偿法(PDC)和线性矩阵不等式方法(LMI),研究了该类输出反馈控制器的解析设计方法．通过一个非线性质量块-弹簧-阻尼器系统输出反馈控制器的设计和计算机仿真,验证了本文方法的有效性．     

有数据包丢失和时延的网络控制系统稳定化

在同时考虑网络时延和数据包丢失的基础上,研究了网络控制系统的反馈控制器设计问题;用迭代的方法分析了数据包的丢失问题。在当前的状态测量不能被控制器实时得到时,利用旧的信息来控制系统,将网络化控制系统建模为切换模型。基于切换系统理论和分段Lyapunov函数理论,构造了线性矩阵不等式,推导出网络控制系统反馈控制器稳定的充要条件。数值仿真算例说明了所提方法的可行性和有效性。     

Global output‐feedback stabilization for a class of stochastic nonlinear systems via sampled‐data control

In this paper, the global sampled‐data output‐feedback stabilization problem is considered for a class of stochastic nonlinear systems. First, based on output‐feedback domination technique and emulation approach, a systematic design procedure for sampled‐data output‐feedback controller is proposed for a class of stochastic lower‐triangular nonlinear systems. It is proved that the proposed sampled‐data output‐feedback controller will stabilize the given stochastic nonlinear system in the sense of mean square exponential stability. Because of the domination nature of the proposed control approach, it is shown that the proposed control approach can also be used to handle the global sampled‐data output‐feedback stabilization problems for a more general class of stochastic non‐triangular nonlinear systems. Finally, simulation examples are given to demonstrate the effectiveness of the proposed method. Copyright © 2017 John Wiley & Sons, Ltd.     

一般严格反馈型非线性系统的自适应控制

研究一般严格反馈型非线性系统的控制问题．假设系统的对象模型、状态均未知,只有输出是可测的．应用自适应模糊神经推断系统辨识对象模型,状态观测器设计为Luenberger型,控制器由反步控制、变结构控制和3层神经网络直接控制综合而成．理论分析和仿真研究都说明此方案能够有效地控制只有输出可测的一般严格反馈型非线性系统．     

一类非线性系统的控制器和观测器设计

研究一类非线性系统的全状态反馈控制问题、观测器设计问题及输出反馈控制设计问题.首先设计出非线性全状态反馈控制器,获得了系统指数镇定的充分条件.然后提出了非线性观测器,并证明了该观测器是指数稳定观测器.进一步,在控制器和观测器问题的充分条件满足的假设下,证明了提出的带估计状态的反馈控制能达到指数镇定.最后,仿真实例验证了所得结果的有效性.     

Control for discrete singular hybrid systems

The problems of stability, state feedback control and static output feedback control for a class of discrete-time singular hybrid systems are investigated in this paper. A new sufficient and necessary condition for a class of discrete-time singular hybrid systems to be regular, causal and stochastically stable is proposed in terms of a set of coupled strict linear matrix inequalities (LMIs). Sufficient conditions are proposed for the existence of state feedback controller and static output feedback controller in terms of a set of coupled strict LMIs, respectively. Finally, two illustrative examples are provided to demonstrate the applicability of the proposed approach.     

State and Mode Feedback Control for Discrete-time Markovian Jump Linear Systems With Controllable MTPM

In this note, the state and mode feedback control problems for a class of discrete-time Markovian jump linear systems (MJLSs) with controllable mode transition probability matrix (MTPM) are investigated. In most achievements, controller design of MJLSs pays more attention to state/output feedback control for stability, while the system cost in practice is out of consideration. In this paper, we propose a control mechanism consisting of two parts: finite-path-dependent state feedback controller design with which uniform stability of MJLSs can be ensured, and mode feedback control which aims to decrease system cost. Differing from the traditional state/output feedback controller design, the main novelty is that the proposed control mechanism not only guarantees system stability, but also decreases system cost effectively by adjusting the occurrence probability of system modes. The effectiveness of the proposed mechanism is illustrated via numerical examples.      

高阶非线性系统状态反馈抗饱和跟踪控制

针对参数未知的高阶非线性系统,提出了一种简单有效的反馈抗饱和控制方法,并进行了状态反馈抗饱和控制吸引域估计.利用反馈控制思想,借助于李亚普诺夫稳定性理论,设计出了相应的状态抗饱和反馈控制器,并借助于Matlab进一步求出了控制器的参数.将所设计的抗饱和控制应用于Duffing混沌系统,仿真结果验证了该控制方法的有效性.     

输出多采样反馈控制器及系统稳定性

针对由连续被控对象和数字控制器构成的数字控制系统,将现有的线性系统输出多采样线性反馈数字控制器设计方法推广到非线性系统．并相应地研究了非线性输出多采样反馈控制器及摄动非线性系统．给出了这类非线性输出多采样数字控制系统及其摄动系统的稳定性和鲁棒性条件．     

Simultaneous stabilization of a collection of single‐input nonlinear systems based on CLFs

This paper considers the simultaneous stabilization problem of a collection of single‐input nonlinear systems. Based on the technique of control Lyapunov functions (CLFs), a sufficient condition for the existence of a simultaneously stabilizing state feedback controller is proposed. It is shown that a collection of feedback linearizable systems in canonical form can be simultaneously globally asymptotically stabilized by a single state feedback controller. Moveover, for a set of three‐order chaotic dynamical systems, the simultaneous stabilization problem is considered and a similar result is derived. All the proposed simultaneously stabilizing state feedback controllers are explicitly constructed. Numerical examples are provided to illustrate the effectiveness of the proposed schemes. Copyright © 2011 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society     

State-space realizations of linear differential-algebraic-equationsystems with control-dependent state space

This note addresses the derivation of state-space realizations for the feedback control of linear, high-index differential-algebraic-equation systems that are not controllable at infinity. In particular, a class of systems is considered for which the underlying algebraic constraints involve the control inputs, and thus a state-space realization cannot be derived independently of the feedback controller. The proposed methodology involves the design of a dynamic state feedback compensator such that the underlying algebraic constraints in the resulting modified system are independent of the new inputs. A state-space realization of the feedback-modified system is then derived that can be used as the basis for controller synthesis     

Parametric Stabilization of Quantized Interconnected Systems with Application to Coupled Inverted Pendulums

This paper studies the analysis of parametric stability and decentralized state feedback control of a kind of quantized interconnected systems. The output of each controller is quantized logarithmically before it is input to the subsystem, and the quantized density would affect the stability of the systems. First, a decentralized state feedback controller is designed for interconnected systems without quantization and the corresponding stable region is obtained. Second, for a given controller, the lower bound of the quantization density is evaluated from parameters of local controllers. Finally, the proposed method is applied to coupled inverted pendulums systems which can be viewed as quantized interconnected systems. The simulation results show that by using the proposed quantized controllers, the interconnected inverted pendulum systems are parametrically stabilized.     

时延加权融合技术的无线传感器网络控制

本文研究了无线传感器网络控制系统的建模、稳定性与控制器设计问题.首先建立一个新的无线传感器网络控制系统模型,然后提出一种用于多个传感器数据融合的时延相关加权均值方法,并通过系统建模及分析,把无线传感器网络控制系统稳定性问题转换成为具有多个传输时延和丢包现象的多传感器单控制器网络控制系统稳定性问题.并利用线性跳变系统理论...     

线性离散时滞系统的D稳定容错控制

采用状态反馈和带时滞的状态反馈控制律,基于Lyapunov稳定性理论和Riccati方程,针对线性离散一步时滞系统,研究了执行器失效后有一定性能保证的D稳定容错控制问题。在给出对执行器失效具有完整性的D稳定容错控制系统需满足的一个充分条件的基础上,给出了控制器的设计方法和步骤,并推广至传感器失效情况。仿真结果证实了这种方法的有效性,与仅引入状态反馈控制律相比,此方法有更好的动态响应性能。最后指出了时滞状态反馈增益矩阵的选取原则。     

非线性系统的模糊自适应输出反馈控制

针对一类未知非线性系统,考虑系统状态不完全可测的情况,利用Lyapunov综合方法设计了一种基于高增益观测器的模糊鲁棒自适应输出反馈控制器,并证明在一定条件下,所设计的输出反馈控制器能获得状态反馈控制器的性能。     

含正反馈振动主动控制系统的混合自适应控制

对于存在结构正反馈的振动主动控制系统,传统的基于有限冲击响应的自适应前馈控制器设计方法难以同时保证控制系统稳定与良好的控制性能.本文在分析正反馈对前馈控制系统影响的基础上,基于无限冲击响应控制器设计模式,提出一种结合前馈自适应控制器和反馈自适应控制器的混合自适应振动主动控制方法.其中前馈自适应控制器采用参考传感器采集到的扰动相关信号作为参考信号,反馈自适应控制器通过构建扰动的估计量作为参考信号,控制器参数更新采用Landau参数递推算法.以一典型的具有固有正反馈性质的机械振动系统为控制对象,给出了该混合自适应控制算法的详细推导过程以及稳定性和收敛性分析过程,得到了算法稳定与收敛的严格正实条件以及相应放松严格正实条件的要求.在此基础上,通过构建实时振动主动控制实验平台,针对多种振动扰动开展对比实验分析.相关实验结果验证了本文提出的混合自适应振动主动控制方法的可行性和有效性.