基于误差系统的信息融合最优预见跟踪控制

Optimal preview tracking control based on information fusion in error system

针对期望轨迹和干扰可预见的最优跟踪问题,提出了一种基于误差系统的信息融合最优控制方法.将线性伺服系统转化为误差系统;利用信息融合估计方法,通过融合期望轨迹、干扰输入、误差系统状态等信息,获得误差系统协状态以及控制增量的最优估计.构建了由积分项、状态反馈控制项和预见前馈补偿项组成的最优预见控制系统.线性直流电机系统的控制仿真结果表明,信息融合最优预见控制下的位置跟踪精度比传统最优预见控制下的要高。

For the linear optimal tracking problem with previewed desired trajectory and disturbance, an information fusion optimal control method based on an error system is presented. The linear servo system is transformed into an error system. Based on the information fusion estimation method, estimations of co-states and control increment vectors of error system are then derived by fusing the information of future desired trajectory, disturbance input, and error system states. An optimal preview control system is also built, which is composed of an integral term, an optimal state feedback control term and a preview feedforward compensation term. Finally, control simulation results of linear DC motor system show that the position tracking accuracy of information fusion optimal preview control is higher than that of the traditional optimal preview control.