一种基于LQ/变结构控制的多模型组合控制

针对一类含有参数跳变的非线性时变系统,提出了一种基于LQ与变结构控制的多模型组合控制方法.该方法在多模型及其切换的框架下,将全局鲁棒控制与多模型局部控制相结合,从而达到和保持整个系统的良好性能.首先,采用变结构控制理论设计全局鲁棒控制器,将被控系统的状态带到多模型局部控制器的作用区域以内.其次,在不同的特征点设计LQ固定控制器,按照一定的切换指标在局部固定模型中选择最佳固定模型以及相应的控制器将输出误差减小为零.仿真实验的结果表明了该方法的有效性.

Multiple-model composite control based on LQ/VSC

To deal with a class of nonlinear time-varying system with jumping parameters,an LQ/VSC based multiple-model composite control is proposed.The main idea is to combine a global robust controller with local fixed controllers within the framework of multiple models so as to achieve and maintain acceptable performance of the overall system.Firstly,the state of the system is brought to the effective region of the local fixed controllers by the global robust controller,which is designed by the VSC theory;secondly,a switching control is employed to decrease the output error to zero by means of designing different LQ controller at different character positions.The simulation results demonstrate the effectiveness of the proposed method.