基于T-S模型的非线性系统主从控制器设计  

Design a Master-slave Controller for Nonlinear System Based on T-S Model

作　　者：蓝新波[1] 赵志俊[2] 杨善友[1] 戴晨昱[3] LAN Xin-bo;ZHAO Zhi-jun;YANG Shan-you;DAI Chen-yu(Guangdong AIB Polytechnic,Guangzhou 510507,China;Guangzhou University,Guangzhou 511370,China;Chian Mobile Group Guangdong Co.,Ltd,Guangzhou 510623,China)

机构地区：[1]广东农工商职业技术学院,广州510507 [2]广州大学,广州511370 [3]中国移动通信集团广东有限公司,广州510623

出　　处：《火力与指挥控制》2017年第2期74-78,共5页Fire Control & Command Control

基　　金：广东省教育厅优秀青年基金资助项目(YQ2015200)

摘　　要：针对同时具有输出和输入非线性的系统,通过中间虚拟控制量的设置,转化为两个非线性子系统的串联,从而简化系统结构并解决最终控制量不宜直接获取的问题。针对无人水面艇的航迹和横摇控制,设计了基于反演控制的从控制器,实现了输入非线性中虚拟控制量到舵角的映射,通过T-S模型将输出非线性系统,转化为线性时变系统,并考虑舵机的角度与角速度约束,设计了广义预测主控制器。该方法不仅简化了系统结构,同时仿真结果表明,所设计的主从控制器可以获得较好的控制效果。To simplify system structure,a middle virtual control value is employed for both outputand input nonlinear system,by which the system are separated to two subsystem and to get ultimatelycontrol value.A master-slave controller is designed based on the separated subsystem for trace and rollcontrol of unmanned surface vehicle.The backstepping control is applied to map middle control valueto rudder angle as slave controller.A T-S model is applied to change the output nonlinear system tolinear time-varying system,and then the generalized predictive control with the constraints of rudderangle and angular velocity is introduced for the linear time-varying system as master controller.Thisapproach not only simplifies the system structure,and simulation results show that the design of themaster-slave controller can achieve good control effect.

关 键 词：输入输出非线性 T-S模型 广义预测控制 无人水面艇 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程]