论文部分内容阅读
实际系统在控制中容易发生执行器饱和及状态时滞问题,这影响系统的稳定性能,给系统带来不可预想的严重后果。为了解决这类问题,研究具有执行器饱和及时滞的连续系统鲁棒控制问题。通过引进辅助矩阵,使系统的控制输入被限制在凸多面体内,系统的饱和非线性函数因而得以处理:采用混杂控制的方法设计了系统控制输入,控制输入与系统构成的闭环系统是切换系统:进一步依据单Lyapunov函数方法镇定系统:最后进行了Matlab数值仿真。提出混杂控制下系统稳定的充分条件及系统切换方案,给出估计系统的最大吸引域方案。结论相比凸组合方法具有较少的保守性,仿真显示所提出的方法可以使系统在较短时间内渐近稳定于原点,且系统具有较大的吸引域。
The actual system prone to actuator saturation and state delay in the control problems, which affect the stability of the system, the system has unforeseen serious consequences. In order to solve this kind of problem, the robust control of continuous systems with actuator saturation and time delay is studied. By introducing the auxiliary matrix, the control input of the system is confined in a convex polyhedron, thus the saturated nonlinear function of the system can be processed. The hybrid control method is used to design the system control input. The closed-loop system with control input and system is the switching system. The system is further stabilized according to the single Lyapunov function method: Finally, Matlab numerical simulation is carried out. The sufficient conditions for the system stability and the system switching scheme under hybrid control are proposed, and the maximum attracting domain scheme of the estimation system is given. Conclusion Compared with the convex combination method, it has less conservativeness. The simulation shows that the proposed method can make the system asymptotically stable to the origin in a short time, and the system has a larger attracting domain.