摘要
本文研宄非最小相位系统的精确跟踪问题.理想情况下,非最小相位系统针对参考轨迹的精确跟踪可以通过非因果稳定逆方法实现,但控制输入需从负无穷处开始作用.而在实际情况下应用非因果稳定逆算法时,控制输入通过延拓提前作用的时间是有限的,只能得到近似的跟踪效果.本文提出了一种基于最优状态转移的非因果稳定逆算法,能够在实际情况下实现非最小相位系统对参考轨迹的精确跟踪,放松了稳定逆方法对系统的初始状态和延拓时间的限制,而且在相同跟踪效果的条件下,比近似稳定逆方法的延拓时间更短.对比仿真结果验证了所提方法的性能.
Non-causal stable inversion method can be used to track the reference trajectory precisely under some strict conditions for non-minimum phase systems;these conditions require the control input to start action from negative infinity on the time axis.However,in the actual situation,the control input of the stable inversion method must be truncated and only acts in a finite extended time interval;this results in an approximate tracking instead of the precise tracking.In this paper,we propose for non-minimum phase systems a revised non-causal stable inversion method based on optimal state-tostate transition,it can achieve a precise tracking of the reference trajectory in the actual situation,regardless of the arbitrary initial system state or the arbitrary extended time.With the same tracking precision guaranteed,the proposed method has a shorter extended time in comparison with the approximate stable inversion method.The better performance of the proposed method is validated through simulation results.
出处
《控制理论与应用》
EI
CAS
CSCD
北大核心
2016年第4期428-436,共9页
Control Theory & Applications
基金
Supported by National Natural Science Foundation of China(61273133)
关键词
稳定逆
状态转移
非因果
非最小相位
stable inversion
state to state transition
non-causal
non-minimum phase
