A gain-scheduled control algorithm for input constrained systems to track time-varying references using controller state resets
A gain-scheduled control algorithm for input constrained systems to track time-varying references using controller state resets
复制标题
用于输入受限系统的增益调度控制算法，以使用控制器状态重置来跟踪时变参考
DOI：
10.1002/tee.22348
复制
发表时间：
2017
影响因子：
1
通讯作者：
Masami Saeki
中科院分区：
文献类型：
--
作者：
Nobutaka Wada;Naoki Kawaoka;Masami Saeki
本文针对具有执行器饱和的离散线性系统，提出了一种跟踪时变参考信号的控制律。提出的控制律由一个反馈控制器和一个目标重算机构组成。反馈控制器包括积分器，以在参考信号恒定的情况下实现零稳态误差。控制器的反馈增益由单个调度参数来参数化。在该控制算法中，当跟踪误差较大时，通过目标重算机制计算修正的参考信号，从而保证算法的可行性和控制系统的稳定性。在此阶段，在线修改控制器状态，从而提高跟踪控制性能。此外，当跟踪误差变小时，调度参数和控制器状态被同时更新，从而提高了跟踪控制性能。将确定调度参数、控制器状态和修正参考信号的问题归结为具有线性矩阵不等式约束的凸优化问题。通过实验验证了该控制方法的有效性。©2016日本电气工程师学会。作者：John Wiley&Sons，Inc.
In this paper, we propose a control law for a discrete‐time linear system with actuator saturation to track time‐varying reference signals. The proposed control law consists of a feedback controller and a target recalculation mechanism. The feedback controller includes an integrator to achieve zero steady‐state error in the case where the reference signal is constant. The feedback gains of the controller are parameterized by a single scheduling parameter. In the proposed control algorithm, when the tracking error is large, a modified reference signal is computed by the target recalculation mechanism so that feasibility of the algorithm and stability of the control system are guaranteed at all times. At this stage, the controller state is modified online so that the tracking control performance is improved. Further, when the tracking error becomes small, the scheduling parameter and the controller state are updated simultaneously so that the tracking control performance is improved. The problems of determining the scheduling parameter, the controller state, and the modified reference signal are reduced to convex optimization problems with linear matrix inequality constraints. The effectiveness of the proposed control method is shown through an experiment. © 2016 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc.