滚动H_∞控制方法在非对称约束系统中的改进算法

Improved moving horizon H-infinity control scheme for asymmetric constrained systems

约束系统的滚动H∞控制方法在处理非对称约束时,一般采用加强约束条件来适应算法,导致控制的保守性。根据控制量可预算,相邻时刻输出不会越迁,对于非对称约束的系统,本文通过预算控制量和输出反馈,在线调整输入约束和输出约束,并提出了动态调整的取值原则。通过对三容实验设备进行机理分析,建立了三容控制系统的带扰动的LTI数学模型。把传统算法和改进算法分别应用于三容控制设备并对实验曲线进行了分析,实验结果表明:改进算法减少了传统算法带来的保守性,增强了系统的控制作用,改善了系统的H∞性能。

When we control an asymmetric constrained system by means of traditional moving horizon H-infinity control scheme for constrained systems,reinforcing the constraint is usually needed,which gives birth to reservation and bad control performance.It is obvious that the input can be predicted on-line and the output between neighbor control times can not vary too much So,in the paper,the constraint of input and output at each control times is adjusted on-line according to the prediction of input and output-feedback when dealing with an asymmetric constrained system.And a principle on how to adjust the constraint on-line is given.In order to validate the improved scheme, the theoretical LTI model with disturbances is made for the physical control system of three tanks,and traditional scheme and improved scheme are taken to control the physical control system individually.The numerical analysis is also given.The result is: the improved scheme makes the reservation less,enhances the control,and brings better H-infinity performance than the traditional one.