具有大不确定性对象的分层切换控制方法

针对大模型不确定性对象的控制问题,提出了一种基于鲁棒控制理论的多模型分层切换控制方法.为减少覆盖不确定性需要的模型数量,采用多个乘性不确定模型来描述对象,并应用LMI方法设计控制器集合.考虑鲁棒控制中常用系统增益来度量不确定性,设计了一种基于不确定性增益估计的切换指标函数,并据此将控制器集合中合适的控制器连接到反馈回路中.理论分析表明系统BIBO稳定,且具有一定的扰动抑制能力.仿真实验结果验证了控制方法的有效性.

Hierarchical Switching Control Algorithm for Plant with Large Uncertainties

To the control problem of the plant with large uncertainties,a hierarchical switching control algorithm based on robust control theory is proposed.To reduce the models needed to cover the uncertainties,multiple multiplicative uncertainty models are used to describe the plant,and the controller set is designed by the LMI approach.Since system gain is usually used to valuate the uncertainties in robust control system,a switching index function by estimating the gain of the uncertainties is designed to switch the proper controller in the controller set into the feedback loop.Theoritical analyses show that the system is BIBO stable and a certain disturbance attenuation level can be achieved.Simulation result shows the effectiveness of the control algorithm.