一种基于随机平均的最优时滞控制方法

基于时滞系统的随机平均法与随机动态规划原理,提出一种非线性系统的随机最优时滞控制方法.先应用时滞随机平均法,将非线性系统的随机最优时滞控制问题变换成非时滞的最优控制问题;再根据随机动态规划原理,建立其动态规划方程;由此确定最优时滞控制律;最后,通过一个例子说明该时滞控制方法的控制效果.

谐和与宽带随机激励下拟可积哈密顿系统的最优时滞控制

研究在谐和与宽带随机激励下拟可积哈密顿系统的最优时滞控制。首先,简要叙述谐和与宽带随机激励下的最优时滞控制问题的提法;其次,将时滞的控制力用非时滞的状态变量近似表示,从而将原时滞控制系统转换为非时滞的控制系统;然后,考虑到系统固有频率与谐和激励频率之间可能的共振关系,运用随机平均法,得到部分平均It随机微分方程,再运用随机动态规划原理,建立动态规划方程,即Hamilton-Jacobi-Bellman(HJB)方程,求解得到控制力,通过求解与完全平均的It随机微分方程对应的Fokker-Planck-Kolmogorov(FPK)方程或者Monte Carlo数值模拟得到系统的响应;最后,将上述控制策略应用于潜水艇纵轴振动控制,并通过Monte Carlo数值模拟结果来评估这一控制策略的控制效果和控制效率。

A Control Scheme Based on Online Delay Evaluation for a Class of Networked Control Systems

A control scheme that integrates control technology with communication technology to solve the delay problem is introduced for a class of networked control systems: Networked Half-Link Systems (NHLS). Concretely, we use the master-slave clock synchronization technology to evaluate the delays online, and then the LQ optimal control based on delays is adopted to stabilize the controlled plant. During the clock synchronization process, the error of evaluated delays is inevitably induced from the clock synchronization error, which will deteriorate the system performances, and even make system unstable in certain cases. Hence, the discussions about the clock error, and the related control analysis and design are also developed. Specifically, we present the sufficient conditions of controller parameters that guarantee the system stability, and a controller design method based on the error of delays is addressed thereafter. The experiments based on a CANbus platform are fulfilled, and the experimental results verify the previous analytic results finally.