【摘要】 研究一类输入多采样率型不确定离散时滞系统的鲁棒预见控制问题.首先,利用离散提升技术从形式上消除输入时滞和多采样率特点,将多采样率不确定系统的鲁棒预见控制问题转化为一个普通的单采样率不确定系统的鲁棒预见控制问题;然后根据预见控制的基本方法,构造出包含未来目标信息的扩大误差系统,并对其相应的标称系统设计预见控制器;最后,根据所设计的控制器和Lyapunov稳定性理论,给出不确定闭环系统的鲁棒稳定性判据.数值仿真结果验证了所提出设计方法的有效性.更多还原

【Abstract】 A class of robust preview control problems of multirate input uncertain discrete-time systems with input delay are studied. Firstly, by using the discrete-time lifting technique to eliminate the input delay and the multirate characteristic,the problem is converted into the robust preview control problem for a single-rate uncertain system. Then, according to the basic method of preview control, an augmented error system containing future target information is constructed, and an optimal preview controller for the corresponding nominal system is designed. Based on the controller and Lyapunov stability theory, some robust stability criterions of the uncertain closed-loop system are obtained. Finally, numerical simulation results show the effectiveness of the proposed method.更多还原