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基于Lyapunov函数设计的非线性不确定系统的控制律通常需要经过复杂的数学分析。为得到简单有效的控制规律,该文提出一种将基于主动补偿的鲁棒控制(TC)及串级控制结合的控制思想,设计串级TC控制器使系统状态渐进收敛到零。利用Monte Carlo随机试验方法,假设模型参数在一定范围内摄动,依据系统动态响应及性能指标分布情况检验闭环系统的性能鲁棒性。详细介绍了串级鲁棒控制的基本原理和设计步骤,进行了仿真实验。仿真结果表明,与处理同类问题的其他方法相比,串级鲁棒控制在状态收敛速度、ITAE指标、性能鲁棒性等方面均具有明显的优势,证实了该方法的有效性。
The control law of nonlinear uncertain systems based on Lyapunov function design usually needs complicated mathematical analysis. In order to obtain a simple and effective control law, this paper presents a control idea based on active compensation combined with robust control (TC) and cascade control. The cascaded TC controller is designed to make the system state converge to zero gradually. Using the Monte Carlo random test method, the model parameters are assumed to perturb within a certain range, and the performance robustness of the closed-loop system is tested according to the system dynamic response and the distribution of performance indexes. The basic principles and design steps of cascaded robust control are introduced in detail, and the simulation experiments are carried out. The simulation results show that compared with other methods to deal with similar problems, the cascaded robust control has obvious advantages in terms of state convergence speed, ITAE index, performance robustness and so on, and confirms the effectiveness of the proposed method.