摘要
讨论了一类非最小相位系统的输出跟踪问题。非最小相位系统广泛存在于机器人柔性结构控制、飞机的飞行控制和航天器发射等实际问题中。由于非最小相位系统内部动态的不稳定性 ,传统的一些输出跟踪方法将导致系统的某些变量发散。文中通过讨论系统的有界理想状态轨迹 ,将期望跟踪的输出进行了扩充 ,利用预测控制方法研究了一类非最小相位系统的输出跟踪问题 ,从理论上证明了利用预测控制可以使非最小相位系统稳定地渐近跟踪期望输出。最后给出了仿真结果。
Output tracking problems for non minimum phase system existed in many practical problem, such as aircraft flight controlling, spacecraft launching and flexible manipulation, are considered. Classical approaches for output tracking are invalid for the non minimum phase system due to the internal dynamic instability. The desired output trajectory is redefined by the bounded ideal state trajectory of the non minimum phase system. Predictive control is used to achieve stable output tracking of the non minimum phase system with a new desired trajectory. The problem in which the systems can track the new reference trajectory steadily is discussed. Finally a simulational result is given.
出处
《南京航空航天大学学报》
EI
CAS
CSCD
北大核心
2000年第3期263-269,共7页
Journal of Nanjing University of Aeronautics & Astronautics
关键词
输出跟踪
非量小相位
预测控制
内部动态
tracking
non minimum phase
predictive control
output tracking
internal dynamic
