带有持续扰动的时滞非线性大系统的最优跟踪控制

Optimal tracking control for nonlinear time-delay large-scale systems with persistent disturbances

研究具有外界持续扰动的时滞非线性大系统的无静差最优跟踪控制问题.将时滞非线性大系统分解为带有互联项的N个时滞非线性子系统,基于内模原理对子系统构造扰动补偿器,将带有外部持续扰动的子系统化为无扰动的增广系统.通过灵敏度法求解不含时滞的两点边值问题,得到子系统的最优跟踪控制律,截取最优跟踪控制律的前N项作为次优控制律来近似系统的最优控制律.仿真实例表明了该设计方法的有效性.

The problem of optimal tracking control with zero steady-state error for nonlinear time-delay large-scale systems affected by external persistent disturbances is considered. The nonlinear time-delay large-scale systems are decomposed into N nonlinear subsystems. Based on the internal model principle, a disturbance compensator is constructed. The subsystems with external persistent disturbances are transformed into augmented subsystems without disturbances. By using the sensitivity approach, the optimal tracking control law for nonlinear large-scale subsystems can be approximately obtained by solving a sequence of two-point boundary value （TPBV） problems without time-delay. We intercept frontal N terms of optimal tracking control law as an approximate optimal control law. A simulation example demonstrates the validity of the designed approach.