参数不确定连续系统的预见重复控制器设计

Design of preview repetitive controller for continuous-time systems with parameter uncertainties

针对一类参数不确定连续时间系统,本文提出一种具有预见补偿的重复控制器.首先,引入重复控制器,采用预见控制理论中误差系统的方法,构造出包含未来目标值信号信息的扩大误差系统,将原系统的预见重复控制问题转化为扩大误差系统的反馈控制问题;然后,针对扩大误差系统,利用Lyaounov方法和线性矩阵不等式技巧给出闭环系统渐近稳定的条件.并基于此,设计预见重复控制器.最后,数值仿真表明本文结果的有效性.

A design method of repetitive controller with preview compensation is proposed for a class of uncertain continuous-time systems with parameter uncertainties.Firstly,the repetitive controller is introduced and the error system method in preview control theory is adopted,an augmented system including previewed information is constructed.This leads to the preview repetitive control(PRC)problem of the original system being transformed into the feedback control problem of the augmented error system.Then,for the augmented error system,the condition of asymptotic stability of the closed-loop system is given by using Lyapunov method and LMI technique.Based on this,the preview repetitive controller is designed.Finally,the effectiveness of the results in this paper are illustrated by numerical simulation example.