摘要
针对一类非线性矩阵二阶系统提出了反馈LPV(linear parameter-varying)控制方法.当满足一定条件时,通过引入给定形式的非线性状态反馈将该类非线性系统化为polytopic LPV系统,进而可以采用LPV控制方法进行控制律设计.以hub-beam系统的SFOAC模型为例,通过非线性状态反馈将该模型转化为polytopic LPV系统,然后针对该系统设计线性状态反馈控制律实现区域极点配置,并把该控制律参数的求解转化为LMI约束下的凸优化问题.最后,数值算例验证了该方法的有效性.
A feedback LPV （linear parameter-varying） control approach for a class of nonlinear matrix second order system was proposed. When some assumptions are satisfied, the nonlinear system can be converted to the polytopic LPV system by a certain kind of nonlinear state feedback, based on which, the control law can be designed by LPV control techniques. The method was validated by the SFOAC model of the hub-beam system, which was converted to the polytopic LPV system by the nonlinear state feedback. And the regional pole assignment was considered for the system via the linear state feedback, while the solution of the parameters of the controller was obtained by solving the LMI constrained convex optimization problem. Numerical simulations demonstrate the effectiveness of the proposed method.
关键词
矩阵二阶系统
非线性控制
LPV系统
LMI凸优化
柔性多体系统
matrix second order system
nonlinear control
LPV system
LMI convex optimization
flexible multibody system
