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针对线性加权多模型切换过程中权值难以确定问题,提出了具有Lyapunov函数的多模型稳定切换的充分条件,依据该充分条件可以确定加权多模型的权值范围和快速获取加权因子的取值,实现多模型的平滑切换.所提出的充分条件克服了多模型子系统必须稳定的苛刻条件,通过对自主水下机器人多运动模型切换过程的仿真实验表明,依据权值范围所给定的加权因子能够保证加权多模型切换过程中的渐近稳定性.
Aiming at the problem that the weight is difficult to determine in the process of linear weighted multi-model switching, a sufficient condition for the multi-model stable switching with Lyapunov function is proposed. Based on the sufficient conditions, the weight range of the weighted multi-model and the value of the rapid acquisition weighting factor can be determined, The multi-model smooth switching is achieved.The sufficient conditions are overcome to overcome the harsh conditions that the multi-model subsystem must be stable.Through the simulation experiments on the multi-model switching process of autonomous underwater vehicles, the weighting factors given according to the weight range The asymptotic stability of weighted multi-model switching can be guaranteed.