摘要
基于LQ理论和变结构方法,导出一种带有饱和执行机构和不确定性线性系统的混合PLC/VSC控制律.引入一组嵌套的Lyapunov级集,并根据分段Lyapunov函数导出控制律,该控制律含有不连续控制项和趋近率项.利用Lyapunov函数方法分析了闭环系统的稳定性.结合简化单摆系统验证了设计方法的有效性,在抗干扰能力和减少超调量上反映出所提出的控制器具有比PLC和PLC/LHG更佳的性能.
A combined PLC/VSC law, based on LQ theory and VSC method, is derived for systems with saturating actuators and uncertainties. The nested Lyapunov level sets are introduced such that control may be proposed based on the derivative of the piece-wise Lyapunov functions. The derived control law contains discontinuous term and tendency-rate term. The stability of the closed-loop system is analyzed using Lyapunov function method. The PLC/VSC scheme is demonstrated for the linearized dynamics of the simple pendulum. The simulation results of PLC/VSC are much better than those of PLC or PLC/LHG in the sense of disturbance rejecting, transition and overshoot.
出处
《控制与决策》
EI
CSCD
北大核心
2004年第7期732-736,共5页
Control and Decision
基金
国家自然科学基金资助项目(69934030)
国防预研项目"飞机实时与远程故障诊断技术"(41327030103).
关键词
PLC
VSC
Lyapunov级集
Actuators
Closed loop control systems
Linear systems
Lyapunov methods
Pendulums
