带有时域硬约束的不确定系统最优保代价控制

针对带有时域硬约束的不确定系统,提出了一种最优鲁棒保代价控制方法.首先将系统中存在的时域硬约束统一由控制量和状态量的线性不等式描述,然后利用矩阵不等式方法,导出了约束鲁棒保代价状态反馈控制器存在且能保证系统一定二次性能同时满足时域硬约束的充分条件.最终最优鲁棒约束保代价控制问题可以转化为求解一个非凸的矩阵不等式优化问题,给出了该类优化问题的迭代求解步骤.在质量-弹簧-阻尼系统上的仿真应用结果表明所提方法可以在约束范围内尽可能地提高系统的鲁棒性能.

Optimal Robust Guaranteed Cost Control of Uncertain System with Time-domain Hard Constraints

For a kind of uncertain linear systems with time-domain hard constraints,an optimal robust guaranteed cost control scheme is presented in this paper.First,the existed time-domain hard constraints are described as linear inequalities on control inputs and states uniformly.Then based on inequalities matrix technique,the conditions which can guarantee existing of the robust guaranteed cost controller,certain level of quadratic performance and satisfaction of the time-domain hard constrains are derived.Finally,the optimal robust constrained guaranteed control problem can be deduced to solve an optimization problem with a set of non-vex matrix inequalities.The solution step for this problem has been provided.Simulation results for the application in mass-spring-damper system show that the robust performance of closed-loop system can be improved as far as possibly,while the time-domain constraints are satisfied.