椭球参数不确定系统的鲁棒控制与参数辨识

Robust Control and Parameter Identification with Ellipsoidal Parametric Uncertainty System

对于椭球参数不确定系统,借助于线性矩阵不等式原理,推导出系统存在鲁棒状态反馈控制器的条件,该条件是以线性矩阵不等式的形式表示。当条件满足时,鲁棒状态反馈增益矩阵可直接求出,并且可以保证系统的鲁棒稳定性和指定的闭环性能。在预测误差辨识的基础上,利用输入-输出观测数据推导系统中未知参数的估计值。鲁棒控制与参数辨识过程可以联合起来构成一半正定规划问题进行求解。最后利用飞机试飞试验数据验证本文方法的有效性。

For systems with ellipsoidal parametric uncertainty,an condition for robust state feedback control is proposed by means of linear matrix inequality principle.The condition takes the form of a linear matrix inequality.When this condition is satisfied,the robust state feedback gain matrix can be easily derived to guarantee robust stability and prescribed closed-loop performance.Based on prediction error identification,the estimate values of the unknown parameters are derived using input-output measurement datas.The positive answer to robust control and parameter identification can be obtained from the semidefinite program.Finally the efficiency of this method is illustrated with a simulation example.