| 李盛,兰永红,罗钊.等价输入干扰补偿的互联系统预见控制研究[J].电子测量与仪器学报,2026,40(1):180-190 |
| 等价输入干扰补偿的互联系统预见控制研究 |
| Research on preview control of interconnected systems withequivalent input disturbance compensation |
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| DOI： |
| 中文关键词: 互联系统 等价输入干扰 预见控制 线性矩阵不等式 奇异值分解 |
| 英文关键词:interconnected systems equivalent-input-disturbance preview control linear matrix inequality singular-value-decomposition |
| 基金项目:国家自然科学基金（61573298）、湖南省自然科学基金( 2020JJ6037) 项目资助 |
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| 摘要点击次数: 462 |
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| 中文摘要: |
| 针对传统预见控制在外部干扰作用下的互联连续时间系统中存在的跟踪性能下降问题,提出了一种基于等价输入干扰(equivalent input disturbance, EID)补偿的分散式鲁棒预见控制(preview control, PC)方法。首先设计EID估计器实现对子系统外部干扰的在线估计与补偿，从而有效降低了干扰对系统性能的影响; 然后引入一个基于预见信息的新等式约束，构建分散式预见控制器，并构造增广误差系统，将控制器设计问题转化为误差系统的稳定化问题；最后结合Lyapunov稳定性理论、线性矩阵不等式工具和奇异值分解技术,给出了保证闭环系统渐近稳定且满足H∞性能指标的充分条件,并求解出控制器及观测器增益。耦合倒立摆平台上的数值仿真表明,所提控制策略能将干扰引起的最大跟踪误差由0.315 7降低至0.048 3，进入稳态的恢复时间由213 ms缩短到25 ms，超调量由19.58%降至2.06%,显著优于传统预见控制和滑模控制，验证了方法在干扰抑制与跟踪性能方面的有效性和优越性。 |
| 英文摘要: |
| To address the problem of degraded tracking performance of traditional preview control in interconnected continuous-time systems under external disturbances, a decentralized robust preview control (PC) method based on equivalent input disturbance (EID) compensation is proposed. First, an EID estimator is designed to achieve online estimation and compensation of external disturbances acting on each subsystem, thereby effectively reducing their influence on system performance. Then, a new equality constraint based on preview information is introduced to construct a decentralized preview controller, and an augmented error system is formulated to transform the controller design problem into the stabilization problem of the error system. Finally, by combining Lyapunov stability theory, linear matrix inequality tools, and singular value decomposition techniques, sufficient conditions are derived to guarantee that the closed-loop system is asymptotically stable and satisfies the H∞ performance indices, and the controller and observer gains are obtained. Numerical simulations on a coupled inverted pendulum platform show that the proposed control strategy reduces the maximum tracking error caused by disturbances from 0.315 7 to 0.048 3, shortens the recovery time to steady state from 213 ms to 25 ms, and decreases the overshoot from 19.58% to 2.06%. These results demonstrate that the proposed method is significantly superior to traditional preview control and sliding mode control, verifying its effectiveness and advantages in disturbance rejection and tracking performance. |
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