摘要
针对陆地自主车系统以往切换控制在策略选择和系统延时方面的不足,以及在未知情况下外部干扰和测量噪声对控制系统性能的不利影响,提出了一种基于线性矩阵不等式LMI算法的H-infinite非脆弱保性能控制方法。陆地自主车控制系统体现为一类具有范数有界形式参数不确定性的连续广义分段仿射系统,通过采用广义分段仿射Lyapunov函数、投影定理以及几个基本引理,使得由所设计弹性控制器构成的反馈系统既满足鲁棒H-infinite性能指标,又具有二次D-稳定性。使得问题解决转换为一组包含参变量LMIs的求解,进而得到保证此类参数不确定系统具有H-infinite性能的反馈控制器增益矩阵。最终,仿真结果证明了所提方法的有效性,通过比较证实该方法具有一定的理论和实用价值。
In view of the lack of autonomous land vehicle system in previous switching control strategies and system delay,and in the case of unknown external interference and noise on the adverse effects of the performance of the control system,a method of H-infinite non-fragile cost guaranteeing control based on linear matrix inequality LMI algorithm is put forward.Autonomous land vehicle control system is a class of generalized continuous piecewise affine systems with norm bounded parameter uncertainty.Using the generalized Lyapunov function,piecewise affine projection theorem and some basic lemmas,the feedback system composed of the designed elastic controller that not only meets the robust H-infinite performance index,but also has secondary D-stability.By solving a set of LMIs containing parametric variables,a feedback controller gain matrix is obtained to guarantee the H-infinite performance of such continuous descriptor piecewise affine systems.Finally,the effectiveness of the method is proven by the simulation results,and the comparison proves that the proposed method has certain theoretical and practical value.
作者
周振华
王茂
杨博媛
ZHOU Zhenhua;WANG Mao;YANG Boyuan(College of Electrical Engineering and Technology,Changzhou Vocational Institute of Light Industry,Changzhou 213164,China;Space Control and Inertial Technology Research Center,Harbin Institute of Technology,Harbin 150001,China)
出处
《应用科技》
CAS
2019年第1期43-49,共7页
Applied Science and Technology
基金
国家自然科学基金项目(61004038)
江苏省专业带头人研修项目(2017TDFX002)
常州轻工职业技术学院博士基金项目
