摘要
利用状态空间法可以有效地解析多输入多输出系统,但LQG控制器不能很好地处理系统误差。为了消除系统误差对控制器所带来的瑕疵,利用H-无穷最优控制方法有效地解决了对所有有界能量的输入命令和外干扰信号,使系统的最大能量误差极小化;对有界范数采用不确定性方法解析,使闭环系统稳定。H-无穷控制器的设计方法是通过为其设计动态补偿器,使得闭环系统对外部干扰起到一定的抑制作用。当外部无扰动时,补偿器仍旧可以使闭环系统处于渐进稳定状态。控制器的主要设计过程就是求一个稳定的反馈控制器K,使得闭环系统保持稳定。最后利用MATLAB仿真了H-无穷控制器的可行性。
A better result of MIMO control analysis is obtained by state space method.However,LQG control system,even LQG optimal controller sometimes performs not well to the character with errors.To overcome the defects caused by the control theory above,H∞optimal control has been used to solve the maximum error of the system minimized,regarding all the bounded energy input signal and disturbance.In terms of the limited uncertainty,errors of the close-loop system can be stabilized.The way of designing H∞ controller is to design a dynamic compensator which can help the close-loop system inhibit disturbance,and when the system doesn＇t have disturbances,the system also can be asymptotically stable.The way of designing the controller is to calculate a stable feedback controller K,which can insure the stability of the close-loop system when there is structured uncertainty.At last,a simulation of H-infinity controller using MATLAB code has been given out.
出处
《大连工业大学学报》
CAS
北大核心
2015年第3期225-230,共6页
Journal of Dalian Polytechnic University
