空间关联系统的最优控制  

Optimal Control of Spatial Interconnected Systems

作　　者：李晖[1] 伍清河[1] 

机构地区：[1]北京理工大学自动化学院,北京100081

出　　处：《兵工学报》2010年第6期685-691,共7页Acta Armamentarii

摘　　要：研究具有二次性能指标的空间关联系统的最优控制问题。通过引入空间变量和空间移动算子,可以将关联系统表示成一般状态空间表达式的形式。基于直接分解协调算法设计了分布式控制器,不仅简化了计算过程,能够稳定整个关联系统,而且综合考虑了过渡过程和控制能量的要求,是二次最优的。仿真结果表明了算法的有效性,最后通过3台移动机器人直线编队仿真实验,进一步说明了算法的正确性和实用性。This paper investigates the optimal control of spatial interconnected systems with linear quadratic performance index. By introducing spatial variables and spatial shift operators, the interconnected systems can be discribed as a general state space expression. Then, the distributed controllers are designed on the basis of direct disassemble coordination arithmetic, which is more convenient for. the controller synthesis. The controllers are quadratic optimal, considering both the transient process and the control energy. The simulation results illustrate the correctness of the method. Finally, the experiment results of three mobile robots＇ formation demonstrate the effectiveness and availability of the proposed method further.

关 键 词：自动控制技术 空间关联系统 二次型最优控制 分布式控制 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]