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71.
Robust H-infinity filtering for a class of uncertain discrete-time linear systems with time delays and missing measurements is studied in this paper. The uncertain parameters are supposed to reside in a convex polytope and the missing measurements are described by a binary switching sequence satisfying a Bernoulli distribution. Our attention is focused on the analysis and design of robust H-infinity filters such that, for all admissible parameter uncertainties and all possible missing measurements, the filtering error system is exponentially mean-square stable with a prescribed H-infinity disturbance attenuation level. A parameter-dependent approach is proposed to derive a less conservative result. Sufficient conditions are established for the existence of the desired filter in terms of certain linear matrix inequalities (LMIs). When these LMIs are feasible, an explicit expression of the desired filter is also provided. Finally, a numerical example is presented to illustrate the effectiveness and applicability of the proposed method. 相似文献
72.
The nonlinear dynamic model of spinning ballistic missiles is established during the first boosting phase of the missile. Based on the conventional backstepping sliding mode control and the assumption of a two time-scale separation of missile dynamics, a graded sliding mode controller is designed with two sub-sliding surfaces which have invariability to external disturbances and parameter perturbations, and a matrix which comprises three first order low pass filters is introduced to prevent "explosion of terms". Owing to the upper bounds of the uncertainties are difficult to obtain in advance, adaptive laws are introduced to estimate the values of the uncertainties in real-time. Eventually, the numerical simulation results given to show the proposed controller can ensure the steady flight of missiles. 相似文献
73.
弹道坐标中三维鲁棒非线性导引律 总被引:2,自引:0,他引:2
本文针对机动目标拦截问题,考虑导弹控制系统动态特性及其不确定性,利用分块反步设计思想,结合输入-状态稳定性理论,在弹道坐标系中设计了一种三维非线性鲁棒导引律.与大多数已有的导引律相比,本文直接地在弹道坐标系中设计导引律,并且所设计的导引律可有效克服控制系统动态特性和不确定性对制导效果的影响,理论分析和数值仿真表明,本文设计的导引律对目标机动和控制系统所受的外来有界扰动均具有较强的鲁棒性. 相似文献
74.
本文针对带运动学参数不确定性的野外轮式移动机器人模型的在线辨识、定界和点镇定控制问题展开了研究.考虑了移动机器人二维平面运动过程中所存在的滑动效应和自身几何参数未知等不确定性,并将其建模为运动学模型中所包含的未知时变参数.通过引入基于有界误差假设的非线性集员滤波方法,对移动机器人运动学模型中存在的不确定性参数进行了辨识和定界.在此基础上结合backstepping控制思想和Lyapunov分析方法解决了移动机器人的鲁棒镇定问题,在存在滑动参数干扰的情况下实现了移动机器人的全局指数收敛点镇定控制,提高了整体控制系统的稳定性和鲁棒性.仿真结果证明了本方法的有效性和鲁棒性. 相似文献
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77.
Ming-Chang Pai 《International journal of systems science》2013,44(12):1501-1510
This article presents a discrete-time sliding mode control method for the robust stabilisation of linear uncertain multi-input discrete-time systems with state and input delays. The systems are assumed to have structured mismatched time-varying parameter uncertainties. A specified switching surface is proposed and a sliding mode controller is derived to ensure the existence of the quasi-sliding mode. Based on the improved Lyapunov function and linear matrix inequality technique, delay-independent sufficient conditions for the design of a stable switching surface are given and the stability of the overall closed-loop system is guaranteed. Neither chattering phenomenon will occur nor the knowledge of upper bound of uncertainties is required. Finally, simulation results demonstrate the efficacy of the proposed control methodology. 相似文献
78.
Xin-Zhuang Dong 《International journal of systems science》2013,44(12):2101-2110
This paper investigates the problem of state feedback robust admissible control for singular delta operator systems with norm-bounded coefficient matrix uncertainties. A necessary and sufficient condition is derived to ensure the admissibility of the closed-loop singular delta operator system for all allowable uncertainties. Then, by specifying the structure of some matrix variables, the existence condition and explicit expression of a robust admissible controller are obtained in terms of strict linear matrix inequalities. Moreover, from the relation between singular discrete systems and singular delta operator systems, the corresponding results are also presented for uncertain singular discrete systems. Finally, some numerical examples are provided to demonstrate the effectiveness of the results in this paper. 相似文献
79.
Wen-Jeng Liu 《International journal of systems science》2013,44(3):349-357
Although the state feedback approach is quite popular in control engineering, it cannot be used while the system states cannot be measured. The state observer approach may be used to overcome such a shortcoming. Also, most control systems have become larger and more complicated; therefore, based on the variable structure control theory, a new decentralised variable structure observer (DVSO) for a class of nonlinear large-scale systems with mismatched uncertainties will be considered in this article. The switching surface function is determined such that the equivalent system will have the desired behaviour once the system reaches the switching surface. And then a new DVSO is designed such that the estimated states will approach the system states. Using the Lyapunov stability theory and using the generalised matrix inverse concept, the uncertain nonlinear error system trajectories can be driven onto the sliding manifold and then the existence of a sliding mode and the attractiveness to the sliding surface is ensured. With the proposed DVSO, the estimation errors asymptotically tend to zero if the matching condition is satisfied, and the effects of the mismatched parts can be uniformly ultimately bounded if the matching condition is not satisfied. Finally, a numerical example with a succession of computer simulations is given to demonstrate the effectiveness of the proposed approach. 相似文献
80.
Toshio Yoshimura 《International journal of systems science》2013,44(5):763-775
This paper presents a simplified adaptive fuzzy backstepping control for uncertain discrete-time nonlinear systems. It is assumed that the systems are described by a discrete-time equation with nonlinear uncertainties to be viewed as the modelling errors and the unknown external disturbances, and the states are observed with measurement noises. To design the simplified adaptive fuzzy backstepping control, the modelling errors are approximated by using the fuzzy inference approach based on the extended single-input rule modules, and the estimates for the unmeasurable states and the adjustable parameters are derived by using the weighted and its simplified weighted least squares estimators. It is proved that the states are ultimately bounded, and the estimation errors remain in the vicinity of zero. The effectiveness of the proposed approach is indicated through the simulation experiment of a simple numerical system. 相似文献