具有外部干扰的连续时间线性系统鲁棒最优开环解耦控制

ROBUST OPTIMAL OPEN-LOOP DECOUPLING CONTROL FOR CONTINUOUS-TIME LINEAR SYSTEMS WITH EXTERNAL DISTURBANCE

针对具有外部干扰的一类连续时间线性系统,将开环解耦控制和无限时间最优跟踪控制相结合,提出了一种鲁棒最优开环解耦控制方法.首先,通过引入中间虚拟变量,对系统进行开环解耦;其次,将解耦后的系统看做被控对象的广义系统,针对标称广义系统设计了无限时间最优跟踪控制方法;最后分析了该最优跟踪控制器与具有外部干扰的广义系统组成的闭环广义系统的鲁棒性.仿真结果表明所提方法的有效性以及与经典的无限时间最优跟踪控制控制方法相比的优越性.

In this paper, a robust optimal open-loop decoupling control method is proposed for continuous-time liner systems with external disturbance, by combining open-loop decoupling control with infinite-time optimal tracking control. First, by introducing an intermediate virtual variable, the system is open-loop decoupled; Second, the decoupled system is viewed as a generalized system and the infinite time optimal tracking control method is designed for its nominal systems; Finally, the robustness of the closed-loop systems composed of the optimal tracking controller and the generalized systems with external disturbances is analyzed. Simulations are conducted and the results show the effectiveness and superiority of the proposed method compared with the classical infinite-time optimal tracking control.