一类时滞切换系统的鲁棒控制器设计

研究了一类具有外部干扰的线性时滞切换系统的鲁棒控制器的设计问题.利用完备性和Lyapunov函数方法设计出状态反馈的鲁棒控制器,并设计出切换策略,证明了闭环系统在给定的切换策略下在其平衡点处的渐近稳定性.仿真结果验证了结论的有效性.     

一类不确定切换系统的鲁棒状态反馈镇定

研究了一类扰动项不满足匹配条件的不确定切换系统的鲁棒镇定问题.在每个子系统均不能镇定的情况下,利用完备性条件和多李雅普诺夫函数方法,分别得到了不确定切换系统可镇定的充分条件.状态矩阵和控制输入矩阵同时带有时变、未知且有界的不确定性,基于凸组合技术和LMI方法,设计出鲁棒状态反馈控制器及相应的切换策略,使得闭环系统在其平衡点处是渐近稳定的.最后仿真结果表明所设计的控制器及切换策略的正确有效性.     

一类线性切换系统的鲁棒状态反馈镇定

考虑一类标称系统存在共同Lyapunov函数的切换系统的鲁棒镇定问题。在不确定性不满足匹配条件下,设计出鲁棒状态反馈控制器,并在给定的切换策略下,确保闭环系统在其平衡点处渐近稳定。仿真结果表明所设计控制器是有效的。     

一类线性切换系统的鲁棒状态反馈镇定

考虑一类标称系统存在共同Lyapunov函数的切换系统的鲁棒镇定问题.在不确定性不满足匹配条件下,设计出鲁棒状态反馈控制器,并在给定的切换策略下,确保闭环系统在其平衡点处渐近稳定.仿真结果表明所设计控制器是有效的.     

不确定非线性切换系统鲁棒容错H∞控制与仿真

为了克服外部扰动与执行器失效对切换系统的不良影响,使系统具有可靠性和抗干扰性,针对一类不确定非线性切换系统,研究了鲁棒容错H∞控制器设计与切换问题.假设系统中存在外部扰动,并且所有的矩阵同时带有未知、时变和范数有界的不确定性.当有执行器失效,并使得每个子系统均不能镇定的情况下,利用线性矩阵不等式技术和多李亚普诺夫函数法设计γ次优鲁棒H∞反馈容错控制器和切换策略,保证切换系统能全局二次稳定并且满足日∞性能指标,对得到的γ次优鲁棒H∞容错控制器进行优化,通过变量替换法获得了γ最优鲁棒H∞容错控制器.仿真结果表明,在执行器正常工作和一些执行器发生失效时,容错控制器和切换策略是有效的.     

一类线性不确定时滞混杂系统的稳定性

研究了一类具有不确定的线性参数及时滞的混杂系统，利用线性矩阵不等式策略和Riccati方法，给出了系统鲁棒稳定性和可稳定性的充分条件，并运用混杂状态反馈控制策略设计了控制器切换方案．最后的仿真实例表明了控制策略的有效性．     

不确定切换时滞奇异系统的鲁棒H_∞控制

研究一类由任意有限多个具有参数不确定性和状态时滞的奇异子系统组成的切换系统的状态反馈鲁棒H∞控制问题。利用Lyapunov函数方法和凸组合技术,给出由矩阵不等式表示的控制器存在的充分条件,并设计了相应的子控制器和切换规则。采用变量替代方法,将该矩阵不等式转化为一组线性矩阵不等式(LMIs)。最后给出电力系统中一个求解状态反馈控制器增益矩阵的仿真算例证明结论的有效性。研究结果表明,通过切换,闭环系统在整个状态空间上的每个点都满足鲁棒H∞性能,而并不要求每个子系统在整个状态空间上都满足鲁棒H∞性能,甚至也不要求其渐近稳定。     

一类不确定随机切换系统的镇定性和H∞性能研究

针对一类不确定随机切换系统,利用随机李亚普诺大稳定性理论和伊藤微分法则,研究了该系统在一定切换条件下鲁棒镇定和鲁棒H∞控制器存在的充分条件.使用状态反馈技术所设计的无记忆控制器能在所有容许不确定下保证闭环系统渐近稳定.文中的研究结果以线性矩阵不等式的形式给出,算例和仿真表明文中控制器设计方法的正确性和有效性.     

一类非线性不确定时滞系统的混杂状态反馈H∞鲁棒控制

利用混杂状态反馈控制策略研究一类非线性不确定时滞系统的H∞鲁棒控制问题.假定在给定的控制器集合中有有限个备选的状态反馈控制器,并且每个单一的连续控制器都不能使系统具有鲁棒H∞性能.当控制器的增益矩阵已知时,基于单Lyapunov函数技术和凸组合条件给出控制器切换方案以确保非线性不确定时滞系统具有鲁棒H∞性能.当控制器的增益矩阵未知时,使用多Lyapunov函数技术得到了问题可解的另一个充分条件,同时还给出了混杂状态反馈H∞控制器的设计.     

脉冲切换系统的鲁棒H∞动态输出反馈控制

考虑了脉冲切换系统的鲁棒H∞控制问题.该系统的状态矩阵和控制矩阵都有不确定性和扰动.利用线性矩阵不等式(LMI)、H∞控制理论、Lyapunov函数和变量替换方法,对这类系统给出了鲁棒稳定且具有γ鲁棒性能的充分条件.然后,使用MATLAB软件设计出H∞鲁棒动态输出反馈控制器和脉冲控制矩阵.最后通过一个仿真算例验证了文中结论的有效性.     

Robust switching of discrete-time switched linear systems

In this work, we address the problem of robust switching design, which seeks a switching signal that makes the switched system exponentially stable and robust against switching perturbations. To properly capture the sensitivity of a switching signal undergoing various switching perturbations, we define the relative distance between state-feedback path-wise switching signals. We establish that any stabilizing state-feedback path-wise switching signal is robust with respect to switching perturbations. A lower bound of the robustness margin is explicitly presented.     

等时切换下线性切换系统的稳定性及鲁棒稳定性研究-LMI方法

研究等时切换下线性切换系统的稳定性及鲁棒稳定性问题。文中首先提出等时切换的概念。然后利用LMI方法推导出等时切换下线性系统稳定及鲁棒稳定的充要条件，使用这两个充要条件可以将文中研究的复杂问题转化为相应的易处理的线性系统的问题，再利用线性系统已有的结论使问题得到解决。使用上述结果，本文为系统设计了鲁棒控制器。文中还给出实现线性切换系统等时切换的具体方法，这使等时切换方法可以真正应用于工程实践。大量仿真证实文中所提出的方法简洁、有效。     

不确定时滞线性离散切换系统的鲁棒H∞控制

研究一类具有不确定和时滞的线性离散切换系统的鲁棒H∞控制问题．利用多Lyapunov函数技术,在基于状态的切换规则下,给出了这类系统鲁棒镇定且具有H∞性能界的充分条件,以及切换规则和鲁棒H∞切换控制器的设计方案．并将结果应用到一类非切换系统,提出了切换状态反馈控制策略．最后的仿真例子进一步表明了本文结论的有效性．     

Robust stability of perturbed switching systems by matrix measure

The robust stability of switching systems is a very difficult problem because of the difficulty in separating the perturbations of the models and the reset maps. In this paper, we apply matrix measure to separate the perturbations of the models and the reset maps. Then the conditions for robust stability of perturbed switching systems with structured perturbations can be readily derived. Sufficient conditions for robust stability of switching systems are proposed, and bounds for structured perturbations based on nonnegative matrices that still ensure stability are derived.     

Observer-based robust H-infinity control for uncertain switched systems

The problem of observer-based robust H-infinity control is addressed for a class of linear discrete-time switched systems with time-varying norm-bounded uncertainties by using switched Lyapunov function method. None of the individual subsystems is assumed to be robustly H-infinity solvable. A novel switched Lypunov function matrix with diagonal-block form is devised to overcome the difficulties in designing switching laws. For robust H-infinity stability analysis, two linear-matrix-inequality-based sufficient conditions are derived by only using the smallest region function strategy if some parameters are preselected. Then, the robust H-infinity control synthesis is studied using a switching state feedback and an observer-based switching dynamical output feedback. All the switching laws are simultaneously constructively designed. Finally, a simulation example is given to illustrate the validity of the results.     

Robust observer-driven switching stabilization of switched linear systems

In this work, we study the robust observer-driven switching stabilization problem of switched linear systems. Under the condition that each subsystem is completely observable, with the observer-driven switching law which makes the system exponentially stable for the nominal system, we prove that the overall system is robust against structural/switching perturbations and is input/output to state stable for unstructural perturbations.     

周期性干扰的鲁棒切换型控制策略

讨论了一类二阶不确定线性切换离散系统的控制问题 ,应用监督控制技术提出一种新型的适应性鲁棒镇定切换型控制策略。通过将该控制策略应用于磁悬浮轴承不平衡周期性振动的主动控制实验 ,验证了该方法的有效性和鲁棒性     

Robust switching signal estimation for a class of uncertain nonlinear switched systems

In this paper, a robust switching signal estimation approach is presented for a class of uncertain nonlinear switched systems using a sliding mode robust observer on the continuous state vector of system. In this approach, the estimation of switching signal is achieved at a bounded and arbitrary small time in spite of un-modelled uncertainties. The developed estimation technique can also be employed on mode-dependent control methods to reach a practical controller for nonlinear switched systems with the inaccessible switching signal. The simulation results illustrate the capability of proposed method.     

基于鲁棒控制理论的多模型分层切换控制

A new hierarchical switching control system of multiple models based on robust control theory is designed for some plant with large uncertainties. The model set and controller set are designed by robust control theory and the characteristics of robust control system are taken into account. A new kind of switching index function by estimating uncertainty is designed. Furthermore,stability of the closed system is analyzed by the small gain theorem in the sense of exponentially weighted L2 norm. And simulation is done on a plant with both parameter uncertainty and unmodeled dynamics. Both theoretical analysis and simulation results show that this new hierarchical switching control system can control the plant with large uncertainties effectively and has good performance of tracking and stability.     

倾转旋翼机平均驻留时间切换鲁棒H∞跟踪控制

针对倾转旋翼飞行器模态转换阶段的飞行控制问题,本文给出了倾转旋翼机纵向运动飞行控制系统模型和一种基于参考模型的鲁棒跟踪控制方法.为了保证闭环系统在切换过程中稳定并同时满足指定的鲁棒H∞性能指标,利用状态观测器对系统不可观测状态进行估计,结合模型依赖平均驻留时间方法提出了一种倾转旋翼机切换鲁棒H∞跟踪控制方法,通过求解线性矩阵不等式得到控制器增益,并分析了系统的鲁棒稳定性.仿真结果表明,所提出的方法能够使飞行器系统准确跟踪指令,且对于控制器切换具有鲁棒性.