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摘要: 针对含有输入时滞和低阶非线性项的非线性系统, 提出了一种基于采样机制的无记忆输出反馈控制方法. 该方法移除了传统预测控制方法预测映射难以确定的限制, 同时避免了时滞依赖方法对过去时刻状态信息的依赖性, 在实际中更易实现. 首先, 根据系统输出在采样时刻的信息, 利用加幂积分技术和齐次占优思想设计了无记忆输出反馈控制器. 然后, 利用齐次系统理论提出了闭环系统的稳定性条件. 最后, 仿真结果验证了所提方法的正确性和优越性.Abstract: For nonlinear systems subject to input delay and low-order nonlinearities, a sampled-data output feedback control approach is proposed. This method removes the limitations that the predictor mapping is difficult to determine and avoids the dependence on past state information, which is easy to be implemented. Firstly, based on the output information at sampling points, the memoryless sampled-data output feedback controller is successfully constructed by using the adding a power integrator technique and the homogeneous domination approach. Then, the stability conditions of the closed-loop system are proposed with the help of the homogeneous system theory. Finally, the effectiveness and advantages of the proposed method are demonstrated by using simulation examples.
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图 4 不同控制方法下系统状态$ x_1 $的响应
Fig. 4 Response curve of $ x_1 $ under different control methods
图 5 不同控制方法下系统状态$ x_2 $的响应
Fig. 5 Response curve of $ x_2 $ under different control methods
图 9 不同控制方法下系统状态$ x_1 $的响应
Fig. 9 Response curve of $ x_1 $ under different control methods
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