摘要
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.
A nonlinear robust information fusion control method is proposed for the control problems of a class of nonlinear discrete-time systems with matching disturbances. By adding a constraint on the disturbance in the performance index function, we convert the robust control problem into an optimal control problem, and then solve it with the information fusion control method. After the conversion process, using the information fusion control method can not only avoid the necessity of solving the nonlinear Riccati equation in the traditional optimal control problem, but also make the control system have a certain robust performance. The method depends on the discrete model of the controlled system, and is easily applied to engineering practices. The simulation results based on the model of two degrees of freedom in a mechanical arm verify the effectiveness of the robust information fusion control algorithm.
出处
《信息与控制》
CSCD
北大核心
2014年第5期578-582,共5页
Information and Control
基金
国家自然科学基金资助项目(61473144
61304223)
关键词
信息融合控制
鲁棒性
非线性离散系统
机械臂
information fusion control：robustness
nonlinear discrete system
manipulator
