基于LMI的鲁棒控制器的设计及在四轮转向系统中的应用  

Design of Robust Controller in Four-wheel Steering System Based on LMI

作　　者：崔宝影 程权成 CUI Baoying;CHENG Quancheng(Huafu Instrument College,Liaoning Mechatronics College,Dandong 118009,China)

机构地区：[1]辽宁机电职业技术学院华孚仪表学院,辽宁丹东118009

出　　处：《清远职业技术学院学报》2020年第6期51-55,共5页Journal of Qingyuan Polytechnic

基　　金：辽宁机电职业技术学院科研项目“基于单片机的以太网通信系统设计与研究”(2017010);辽宁机电职业技术学院科研项目“非线性系统跟踪控制器设计与研究”(2019009)。

摘　　要：针对四轮转向非线性系统提出了一种鲁棒控制器算法,并以线性矩阵不等式(LMI)的形式给出能够实现系统稳定的鲁棒控制器的充分条件。首先建立了四轮转向系统的状态方程,然后为了保证闭环非线性系统的跟踪性能,引入H∞控制理论,利用Lyapunov方法得到设计条件,并结合schur定理得到鲁棒控制器的存在条件。最后,通过MATLAB中的setlmis等函数得到鲁棒控制器的增益,验证该方法能够实现系统稳定。In this paper,a robust controller algorithm for a four-wheel steering nonlinear system is proposed,and sufficient conditions for a robust controller to achieve system stability are given in the form of linear matrix inequality(LMI).Firstly,the equation of state of the four-wheel steering system is established.In order to guarantee the tracking performance of the closed-loop nonlinear system,the control theory is introduced.Then the design conditions are obtained by Lyapunov method,and the existence conditions of the robust controller are obtained by schur theorem.Finally,the gain of the robust controller is obtained through setlmis and other functions in MATLAB,which verifies that this method can keep the system stable.

关 键 词：鲁棒控制器 线性矩阵不等式(LMI) LYAPUNOV函数 

分 类 号：C39[社会学]