基子未建模动态补偿的LQG控制

LQG Control Based ou Comoensatin of the Uumodelled Dynamics

本文用定义变量和状态扩维的数学方法导出了存在未建模动态时的LQG问题的理论最优解;通过分析此解的结构,搞清楚了未建模动态的影响,并根据未建模动态补偿的思想,得到了比以往控制器鲁棒性更好的LQG控制器。

A theoretical optimal solution to LQG in the presence of modeling errors is given by using some mathematical techniques including defining a set of state variables and extending their dimensions. The influence of the unmodelled dynamics is found out by analysing the solution, and then a new controller based on a compensation of the unmodelled dynamics is proposed.