一类递阶混合控制系统的设计

Design of a class of hybrid control system

针对一类具有多个子系统相互关联相互作用的混合动态系统,建立了受控对象和闲环控制系统模型,采用对策论和优化思想求解设计中的有关参数最优值以及局部数值控制规律,并得到对应离散状态的连续状态空间划分和离散状态的迁移条件,在此基础上综合出满足系统需求规范的递阶混合控制器。六自由度运动控制的系统参数与控制器设计实例说明,该方法的可行性和有效性。

A closed - loop control model for a class of large - scale and multiple subsystems hybrid dynamical system is established. A design procedure is proposed that leads to hierarchical and hybrid control schemes. Continuous control laws at a lower level and bounds on their performance are obtained applying the game theoretic design techniques and optimal control. Decision - maker is synthesized to resolve conflicts and supervise the continuous controllers at a higher level according to the bounds and optimal parameters. The method is illustrated by a motion controller design of six freedom motion control system.