【摘要】 研究一类线性切换系统的状态反馈输出跟踪控制问题。引入带权可控性格拉姆(Gramian)矩阵作为设计工具，对任意给定的参考信号，设计出切换输出跟踪控制器。只要切换信号满足驻留时间假设，无论切换系统如何在子系统间切换，跟踪控制器都能使系统输出跟踪给定的参考信号。轨迹跟踪是无人小车智能驾驶的重要问题，当无人小车在非一致路面行驶时，小车的动态系统会因路面不同而变化，呈现为一个切换系统。将所得结论应用于在非一致路面上行驶的无人小车的轨迹跟踪仿真研究。仿真结果表明，所设计的跟踪控制器能使无人小车在变化路面上沿指定的轨迹行驶。更多还原

【Abstract】 This paper studies the problem of state feedback output tracking control for a class of linear switched systems. The weighted controllability Gramian matrix is introduced as a design tool, and a switched output tracking controller is designed for any given reference signal. As long as the switching signal satisfies the dwell time assumption, regardless of how the switched system switches between subsystems, the tracking controller can make the system output track the given reference signal. Trajectory tracking is an important issue in the intelligent driving of unmanned vehicles. When an unmanned vehicle travels on inconsistent road surfaces, the dynamic system of the vehicle will change due to different road surfaces, presenting as a switched system. The obtained conclusions are applied to the simulation study of trajectory tracking for unmanned vehicles driving on inconsistent road surfaces. The simulation results show that the designed tracking controller can make the unmanned vehicle travel along the specified trajectory on changing road surfaces.更多还原