【作者】 费吉庆；

【导师】 张侃健；

【作者基本信息】 东南大学 ， 控制理论与控制工程， 2006， 硕士

【摘要】 无源性这个概念是从耗能网络中抽象出来的,具有广泛的工程背景。无源系统理论已成为非线性系统分析与设计的重要工具,被广泛应用于自适应控制和鲁棒控制等研究领域。但是,相对阶为1以及弱最小相位是系统能光滑反馈无源化的必要条件,这些限制条件在很大程度制约了无源系统理论的发展。为此,本文尝试发展无源化方法以克服相应限制条件,在此基础上给出非线性系统控制设计的一些新方法。前两章回顾了无源性理论的产生、发展及研究现状,总结了非线性系统无源控制的一些主要结果、主要研究方法和尚需解决的问题,指出了本文的主要工作。第三章针对不同类型的非线性系统分别进行研究,讨论了一类非线性系统的无源化问题。这些系统具有相对阶大于1或者非最小相位的几何性质,文中通过构造并联补偿器来实现系统无源,并发现这种结构更适合输出反馈镇定控制器的设计;对于具有同样性质的线性系统,本文将问题进一步转化为线性矩阵不等式的求解。第四章讨论了一类串接非线性系统的镇定控制问题,其中的串接子系统不满足相对阶为1的条件。文中通过引入Hurwitz微分算子串联补偿的方法,基于无源系统理论给出了镇定控制方案。第五章针对无法直接串接无源化或者反馈无源化的系统,提出了在不同的无源化补偿器间切换来实现系统无源的思想,包括串接与反馈间的切换,并联与反馈的切换。这种切换设计进一步拓展了无源系统理论的应用。最后一章为全文总结,归纳了本文研究的主要内容,指出尚待解决的问题。本文就主要的设计方案进行了仿真研究,结果表明所给出的控制策略可以达到预期的目的,控制算法是切实可行的。更多还原

【Abstract】 Originated from electrical network, passive theory owns extensive engineering backgrounds, and it has many important applications in adaptive control, nonlinear control and robust control, etc. Although a number of recursive design procedure for its applications and extensions are being reported, the relative degree one and weakly minimum-phase conditions have been major obstacles for the passification of the given system. This thesis focuses on the design for a dynamic passifier which can remove the obstacles above and presents some new results in broadening passivity theory.In the top two chapters of this thesis, the born and development of passive theory are reviewed and the main results of passive-based control for nonlinear systems are revisited. Some approaches and problems are given in the study of the passification problems and the main work of this thesis is introduced.Next, we study some different models of nonlinear system separately. The 3rd chapter addresses the passification problem of a class of nonlinear affine system, which is characterized by their structural properties such as relative degree higher than one and non-minimum phaseness. We construct the parallel compensator for the passivation which is more suitable for the output feedback stabilization. For linear system with the same properties, the construction procedure is reduced to problems of solving some LMIs.In the 4^th chapter, for the cascade nonlinear system with relative degree greater one, the feedback stabilization via feedback passification is concerned. In this paper, some Hurwitz differential operator is cascaded to compensate the original system and to make the relative degree equal to one, then the classical feedback passification approach is still available.In certain cases, solely series or solely feedback passification may not be possible or desirable. So the 5th chapter presents a hybrid compensator which is a combination of series and feedback passification or the switch between the parallel and feedback passification. These alternate configurations for hybrid passification would broad the application of the passive theory.In the end, we conclude this thesis and present the future work.Besides, simulations are made for main design schemes and the results demonstrate the effectiveness of the proposed approaches.更多还原