一类串联控制系统的优化设计:Backstepping方法  

Optimization design for a class of cascade control systems: Backstepping approach

作　　者：张艳[1] 李少远[1] 

机构地区：[1]上海交通大学自动化研究所,上海200030

出　　处：《控制理论与应用》2005年第3期481-486,共6页Control Theory & Applications

基　　金：国家自然科学基金资助项目(60474051);国家教育部新世纪优秀人才计划;高等学校博士学科点专项科研基金(20020248028)资助项目.

摘　　要：针对一类多输入非线性串联系统提出了基于Backstepping方法的次优控制的设计.首先,将串联控制系统分为几个子系统,然后为每个子系统分别设计辅助子系统及相应的辅助控制变量,进一步利用State_DependentAlgebraicRiccatiEquation(SDARE)技术为每个辅助子系统设计次优控制律.设计出的次优控制律使得原状态变量和辅助控制变量(即:辅助反馈变量)具有一定的渐近特性,因此,不但可在线获得次优控制律的解析解,而且保证了原闭环系统的全局渐近稳定性.最后通过一个两输入的二阶串联系统的数字仿真结果验证了该优化设计方法的有效性.<Abstrcat> A suboptimal control design is proposed based on Backstepping method for a class of multi-input nonlinear cascade systems.First,the cascade control system is decomposed into several subsystems.Then,the auxiliary subsystem and corresponding auxiliary control variables for each actual subsystem are devised,respectively.Third,a suboptimal control law for each auxiliary subsystem is designed with State-Dependent Algebraic Riccati Equation (SDARE) technique.The original state variables and the auxiliary control variables (i.e. auxiliary feedback variables) have an asymptotical characteristic by imposing the proposed control law,thus the analytic solution to suboptimal control can be achieved on-line and the global asymptotical stability (GAS) of the original closed-loop system can be guaranteed.Finally,the numeric simulation results of the second-order system with two inputs are provided to verify the effectiveness of the proposed optimization design.

关 键 词：串联系统 BACKSTEPPING方法 次优控制 SDARE(state-dependent ALGEBRAIC RICCATI equation) 全局渐近稳定性 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]