间隙度量与跟踪系统中的鲁棒控制器设计

Gap metric and robust controller design in tracking systems

为定量研究鲁棒控制器允许对象有尽可能大的不确定性,在引入间隙度量的基础上,定义了跟踪系统鲁棒控制器的鲁棒边界,并对某跟踪系统设计了基于间隙度量的鲁棒控制器.该控制器能兼顾对象的不确定性与控制器的不确定性.由仿真结果可以看出,与普通的PID控制器相比,具有较大鲁棒边界的鲁棒控制器不仅具有较强的干扰抑制能力,而且能够在模型加性不确定性存在的情况下具有很好的跟踪性能.

The gap metric is introduced to design the robust controller for the quantitative analysis of uncertainty as much as possible.The robust margin of the robust controller is defined in a tracking system based on the gap metric,and the robust controller is designed according to the gap metric in the tracking system.Uncertainty the plant and the controller should be considered simultaneously to make the designed controller has some ability of disturbance rejection,when a control system is being synthesized.Simulation results show that the robust controller having bigger robust margin has abilities of both stronger disturbance rejection ability and better tracking performance compared with common PID controller when additive uncertainty is existing.