线性连续时滞系统最优预见重复控制  

Optimal preview repetitive control for linear continuous time-delay systems

作　　者：兰永红[1] 赵家玉 罗毅平[2] LAN Yong-hong;ZHAO Jia-yu;LUO Yi-ping(School of Automation and Electronic Information,Xiangtan University,Xiangtan Hunan 411105,China;School of Electrical Information,Hunan Institute of Engineering,Xiangtan Hunan 411105,China)

机构地区：[1]湘潭大学自动化与电子信息学院,湖南湘潭411105 [2]湖南工程学院电气信息学院,湖南湘潭411105

出　　处：《控制理论与应用》2021年第10期1542-1550,共9页Control Theory & Applications

基　　金：国家自然科学基金项目(61573298);湖南省自然科学基金项目(2020JJ6037)资助。

摘　　要：针对一类线性连续时滞系统,提出一种最优预见重复控制设计方法.首先,通过一种等价变换,将被控时滞系统转化为无时滞系统.然后,利用L阶差分算子提升技巧,获得包含状态变量导数和跟踪误差的增广连续系统.在此基础上,通过定义一种新的性能指标,将预见重复控制设计问题转化为连续非自治系统的线性二次调节问题.进一步,基于最优控制理论,得到包含状态反馈、误差积分、重复控制、时滞补偿和预见补偿的最优预见重复控制器.该控制器包含了已有文献的多种控制器形式.最后,通过一个数值仿真实例,说明所提方法的有效性.For a class of linear continuous time-delay systems,an optimal preview repetitive control design method is proposed.First,by an equivalent transformation,the time-delay system is transformed into a delay-free system.Then,an augmented continuous system containing the derivative of state variable and tracking error is obtained by using L-order difference operator.Based on this,by defining a new performance index,the preview repetitive controller design problem is transformed into a linear quadratic regulation problem.Furthermore,based on the optimal control theory,an optimal preview repetitive controller including state feedback,error integration,repetitive control,time-delay compensation and preview compensation is obtained.This controller includes many kinds of controller in the existing literature.Finally,a numerical simulation example is used to illustrate the effectiveness of the proposed method.

关 键 词：预见控制 重复控制 时滞系统 最优控制 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]