具有多个平衡点的不确定混杂系统的鲁棒镇定

Robust stabilization of uncertain hybrid systems with multiple equilibria

考虑具有多个平衡点的参数不确定混杂系统的鲁棒镇定问题 .采用分段二次型 L yapunov函数推导得到此类混杂系统可由混杂状态反馈鲁棒镇定的充分条件 ,在此基础上提出了混杂状态反馈鲁棒镇定控制器的设计方法 ,将控制器的设计转化为与一组线性矩阵不等式相关的凸优化问题 ,从而可以用有关的计算软件求解 .由于控制器的设计不仅包含控制器连续时间动态行为的设计 ,还包含离散事件动态行为的设计 ,因此不要求混杂系统中每个连续子系统都具有可控性 .

The problem of robust stabilization for parametric uncertain hybrid systems with multiple equilibria was considered. Piecewise quadratic Lyapunov functions were applied to derive the sufficient conditions for hybrid state feedback robust stabilization. The proposed design of hybrid state feedback robust stabilization controllers is formulated as a convex problem in terms of linear matrix inequalities, which can be solved by relevant software. Controllability of the continuous time subsystems is not required since the controller design consists of discrete event dynamics design and continuous time dynamics design. The applicability of this design approach is shown in a successful simulation example.