基于单位分解的复杂系统分散自适应鲁棒控制设计  

Decentralized Adaptive Robust Controller Design for Complex System Based on Partition of Unity

作　　者：王文庆[1] 韩崇昭[1] 

机构地区：[1]西安交通大学电子与信息工程学院

出　　处：《西安交通大学学报》2006年第6期621-625,共5页Journal of Xi'an Jiaotong University

基　　金：国家重点基础研究发展规划资助项目(2001CB309403);国家自然科学基金资助项目(60574033);教育部高等学校博士学科点专项科研基金资助项目(20020698026).

摘　　要：针对一类较为一般的不确定复杂系统,提出利用微分几何中单位分解的概念处理复杂系统中的不确定性,完成鲁棒控制器设计的新方法.该方法首先对被控系统中的不确定性进行归一化处理,进而构造出从属于状态变量的紧致域的一组开覆盖的单位分解,利用其具有以任意精度逼近非线性连续函数的性质,实现了对被控系统不确定性的近似逼近,然后设计了复杂系统的分散鲁棒控制器和参数估计的自适应律,并证明了这种控制器使被控系统的状态及参数估计误差一致终极有界.与已有的类似成果相比,该方法所用的假设条件较弱,也无需复杂的计算,更加贴近工程应用.算例仿真验证了所提出方法的有效性.Focusing on a class of more general uncertain complex systems, using the concept of partition of unity in differential geometry to deal with system uncertainties, a new method for designing the decentralized adaptive robust controller was proposed. In the new method the uncertainty of the system to be controlled is normalized firstly, and then the partition of unity that is subordinated to a open covering of state variables compact set is constructed, and the approximation is realized by using its property that can approximate nonlinear continuous function with arbitrary precision, then the decentralized adaptive robust controller of complex systems and adaprive laws of approximate parameter estimation are designed. Compared with existing methods, the proposed algorithm needs simpler assumed conditions and no complicated computation is required. Simulation result shows that the method is valid.

关 键 词：复杂系统 不确定性 单位分解 一致终极有界 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]