论文部分内容阅读
研究了具有乘摄动模型不确定性并存在未知干扰系统的最优鲁棒跟踪控制问题 .采用二自由度控制器结构Youla参数化方法将最优鲁棒跟踪控制问题转化为两个相互独立的优化问题 :跟踪问题和鲁棒设计问题 .跟踪问题以l∞ 范数为性能指标通过极小化跟踪误差的最大幅值实现最优跟踪控制 ;鲁棒性设计问题中 ,将模型不确定性视为一种外界干扰 ,通过极小化干扰到误差的灵敏度函数的l1范数使得干扰对跟踪误差的影响最小 .通过截断处理 ,上述两种优化问题均可化为标准线性规划问题 .给出了截断阶数与逼近误差之间的关系 .仿真结果表明新方法的有效性 .
The optimal robust tracking control problem with uncertainty of multiplicative model and unknown disturbance system is studied.The Youla parameterization method with two degrees of freedom controller structure is adopted to transform the optimal robust tracking control problem into two independent Optimization problem: tracking problem and robust design problem. Tracking problem The optimal tracking control is achieved by minimizing the maximum amplitude of tracking error with l∞ norm as the performance index. In the robust design problem, the model uncertainty As an external disturbance, the influence of disturbance on the tracking error is minimized by minimizing the l1 norm of the sensitivity function of the disturbance disturbance. Both of these optimization problems can be transformed into standard linear programming problems by truncation. The relationship between truncation order and approximation error.The simulation results show the effectiveness of the new method.