论文部分内容阅读
针对受外部干扰的矩形广义系统研究了基于动态补偿的最优跟踪控制问题.所给定的二次指标中包含有期望输出和实际输出的误差信号.联立原系统、干扰系统及期望输出系统,将问题转化为无干扰的标准线性二次优化问题.进而给出具有适当动态阶的补偿器,使得闭环系统是容许的,且相关的矩阵不等式和Lyapunov方程的解存在.此外,二次性能指标可写成一个与该解和系统初值相关的表达式.进一步求解具有双线性矩阵不等式约束的优化问题,并给出相应的路径跟踪算法以求得性能指标最小值以及补偿器参数.最后,通过数值算例说明本文方法的有效性和可行性.
The optimal tracking control problem based on dynamic compensation is studied for a rectangular generalized system subject to external disturbances. The given quadratic index contains the expected output and the error signal of the actual output. The original system, the interference system and the expected output system, The problem is transformed into a non-interfered standard linear quadratic optimization problem, and then a compensator with appropriate dynamic order is given, which makes the closed-loop system tolerant and the solutions of the related matrix inequalities and Lyapunov equations exist.In addition, the quadratic performance index Can be written as an expression related to the initial value of the solution and the system, the optimization problem with bilinear matrix inequality constraints is further solved, and the corresponding path-tracking algorithm is given to obtain the minimum performance index and compensator parameters.Finally, Numerical examples are given to illustrate the effectiveness and feasibility of the proposed method.