柔性系统的最小时间鲁棒时滞滤波器设计

本文提出了一种最小时间鲁棒时滞滤波器控制，来提高柔性系统的时间最优控制的 鲁棒性．这种最小时间鲁棒时滞滤波器控制方法与其扩展系统传统的时间最优控制是一致的 ，这种等价性提供了验证最小时间鲁棒时滞滤波器最优性的理论方法，即所求得的解是否满 足Pontryagin 最小值原理．仿真结果进一步表明了这种最小时间鲁棒时滞滤波器的优越性 ．

TIME MINIMUM ROBUST TIME DELAY FILTER DESIGN OF FLEXIBLE SYSTEM

A time minimum robust time delay filter of flexible system is proposed in this paper to improve the robustness of traditional time optimal control. It is shown that several time minimum robust time delay filters are equivalent to traditional non robust time optimal controls for augmented systems. This equivalence implies that sufficient conditions from traditional time optimal control provide a method to verify whether numerical solutions of time minimum robust time delay filter are indeed the optimum. The simulation results demonstrate the key results.