基于LMI的液压操舵系统H_2/H_∞控制器设计

Design of H_2/H_∞ Controller of Hydraulic Steering System Based on LMI

分析了典型液压操舵系统的数学模型及其不确定因素 ,其控制可归结为结构摄动系统控制问题。论述了结构摄动系统的H2 /H∞ 输出反馈控制问题 ,可以通过解一组LMIs得以解决。仿真试验结果表明 ,基于LMI的H2 /H∞ 混合控制器的控制性能和鲁棒性优于传统的PID控制和单纯的H2 控制和H∞ 控制。

In this paper,mathematical model and its uncertainties of a typical hydraulic steering system is analyzed.The control problem of the system can be come down to a combined H 2/H ∞ output feedback control problem.By transferring the dynamic output feedback problem into a static feedback control problem of an auxiliary system,the problem can be solved by linear matrix inequalities (LMI).Simulation results reveals that the H 2/H ∞ controller based on LMI is better than PID and H 2 or H ∞ controller