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Mixed H2/H-infinity controller comprehensive method based on backtracking approaching bundle method

A comprehensive method and controller technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve problems that are difficult to implement and calculation methods fail

Inactive Publication Date: 2018-07-27
HUZHOU TEACHERS COLLEGE
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Problems solved by technology

Research Mix H 2 / H ∞ A common method for control problems is to solve three coupled Riccati and Lyapunov equations, which is difficult to implement in engineering
With the rise of linear matrix inequalities and nonlinear matrix inequalities, the problem can be transformed into an optimization problem under the constraints of bilinear inequalities to solve, and because the Lyapunov variable will increase the quadratic rate with the increase of the system scale, this will lead to the rapid failure of existing calculation methods

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  • Mixed H2/H-infinity controller comprehensive method based on backtracking approaching bundle method
  • Mixed H2/H-infinity controller comprehensive method based on backtracking approaching bundle method
  • Mixed H2/H-infinity controller comprehensive method based on backtracking approaching bundle method

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Embodiment Construction

[0050] see figure 1 with figure 2 As shown, consider a state-space system of the form:

[0051]

[0052] in, is the state vector, is the control variable, is the measured output. ω ∞ and ω 2 respectively H ∞ and H 2 Performance index related external disturbance input vector, z ∞ and z 2 respectively H ∞ and H 2 The controlled vector related to the performance index, A is the system state matrix, B ∞ and B 2 ω ∞ and ω 2 The input gain matrix, B is the control input matrix, C ∞ 、D ∞ and D ∞u respectively with H ∞ The performance indicators are related to the weight matrix of state variables, disturbance outputs and control inputs. C 2 and D 2u respectively with H 2 A weight matrix of state variables and control inputs related to performance indicators. ω 2 →z 2 is H 2 performance channel, ω ∞ →z ∞ is H ∞ performance channel.

[0053] Mix H 2 / H ∞ The goal of control is to find an output feedback controller u=Ky such that the closed-loop s...

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Abstract

The invention relates to a mixed H2 / H-infinity controller comprehensive method based on a backtracking approaching bundle method. By means of the comprehensive method, the backtracking approaching bundle method can be utilized to solve a mixed H2 / H-infinity control model, and according to the approaching bundle method, a mixed H2 / H-infinity control model is converted into unconstrained planning for solving. The backtracking approaching bundle method is utilized to solve the H2 / H-infinity model, has a good numerical value effect, and has good convergence for both the optimal value and the optimal solution; meanwhile, the designed controller can very quickly stabilize the system performance.

Description

technical field [0001] The invention belongs to the technical field of intelligent manufacturing, and relates to a hybrid H 2 / H ∞ Controller synthesis method. Background technique [0002] In the intelligent manufacturing system, its research object is the integration and self-organization ability of the whole manufacturing environment. It is necessary and effective to use the control strategy provided by modern control theory to help decision makers. The two most commonly used indices in optimal control theory are H 2 and H ∞ Norm, corresponding to this control system design also has H 2 and H ∞ method. h 2 Performance refers to the gain of the system under the interference of the bounded spectrum, H 2 The control problem is based on an internally stable control system, so that the control effect of the closed-loop transfer function depends entirely on the H describing the controlled object 2 The norm is minimized to achieve the best system performance. while H ...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 王金鹤庞丽萍吴琼王帅肖泽昊
Owner HUZHOU TEACHERS COLLEGE
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