基于伪逆控制分配的过驱动系统稳定性分析

针对基于控制分配的过驱动系统的稳定性问题,提出一种设计方法,并给出闭环系统吸引域的优化估计.通过引入伪控制,基于控制分配的过驱动系统可以分为内环和外环.内环基于控制分配实现伪指令的跟踪,外环则为方形系统设计伪控制器.采用伪逆控制分配方法,在状态反馈下通过线性矩阵不等式优化用椭圆逼近闭环系统的吸引域.分析了这种基于控制分配的间接法与无控制分配器的直接法的等价性.仿真结果表明,所给方法能实现内环的零误差跟踪,并保证闭环系统的稳定性.

Stability Analysis on Overactuated System Based on Control Allocation by Pseudo Inverse Method

To guarantee the stability of the overactuated system incorporating the control allocation,a design method is provided to assess optimally the attraction domain of the closed-loop system.The control allocation based overactuated system can be divided into two parts,as inner loop and outer loop.The inner loop realizes the tracking of the pseudo command,while the task of the outer loop is to design the pseudo controller for a square system.The pseudo inverse control allocation is adopted,and under state feedb...