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针对一类带匹配扰动的非线性离散系统的控制问题,提出了一种非线性鲁棒信息融合控制方法.通过在性能指标函数中增加有关扰动的约束项,将鲁棒控制问题转化为最优控制问题,然后利用信息融合控制方法求解该最优控制问题.经过这种转化处理后,运用信息融合控制方法不但可以避免求解传统最优控制中的非线性黎卡提方程,而且使控制系统同时具备了一定的鲁棒性能.该方法基于离散系统模型实现,具有容易运用于工程实践的优点.基于2自由度机械臂模型的仿真研究表明了鲁棒信息融合控制算法的有效性.
Aiming at the control problem of a class of nonlinear discrete systems with matching perturbation, a nonlinear robust information fusion control method is proposed. By adding perturbations in the performance index function, the robust control problem is transformed into an optimal Control problem, and then use the information fusion control method to solve the optimal control problem.After this transformation, using the information fusion control method can not only avoid solving the nonlinear Riccati equation in the traditional optimal control, but also make the control system Has some robust performance.The method is based on the discrete system model and has the advantages of easy application in engineering practice.The simulation study based on 2-DOF robotic arm model shows the effectiveness of the robust information fusion control algorithm.