基于粒子滤波的前馈-反馈控制系统设计

The Design of Feedforward and Feedback Control Systems Based on Particle Filter

针对状态目标跟踪过程的非线性非高斯噪声,提出了采用基于粒子滤波的前馈控制器,并对工业生产惯性和纯滞后过程提出了一种二自由度控制结构.在标称情况下,该控制结构的给定值响应和负载干扰响应是完全解耦的,可以分别通过调节给定点跟踪控制器和前馈滤波器来达到各自期望的控制性能指标.仿真实例验证了该控制系统的可行性和优越性.

A new feedforward controller of particle filter was proposed for the nonlinear non-Guassian filter problem in the state tracking process. A two-degree-of-freedom control structure was designed for inertia and time delay. Firstly the setpoint tracking controller is designed in terms of the robust optimal perform- ance objective. The nominal setpoint response is decoupled from the load disturbance response by virtue of the control manner for the setpoint tracking. In consequence, both of them can be optimized simultaneously and separately to satisfy their optimal performance objective. The results of simulation examples demon- strate the validity and superiority of the proposed control structure.