Stabilisation and H-infinity control for switched port-controlled Hamiltonian systems with unstable modes and actuator saturation
Stabilisation and H-infinity control for switched port-controlled Hamiltonian systems with unstable modes and actuator saturation
复制标题
具有不稳定模式和执行器饱和的切换端口控制哈密顿系统的稳定性和 H 无穷大控制
DOI：
10.1080/00207721.2019.1690071
复制
发表时间：
2020
影响因子：
4.3
通讯作者：
Zong Guangdeng
中科院分区：
文献类型：
--
作者：
Wang Zi-Ming;Wei Airong;Zhao Xudong;Yang Jinge;Zong Guangdeng
本文利用基于能量的多李雅普诺夫函数方法研究了具有不稳定模态和执行器饱和的切换端口受控哈密顿系统的镇定与控制问题。首先，通过截断不等式切换状态反馈控制器，所考虑的系统被转化为一个无强迫的SPCH系统的渐近稳定，稳定和不稳定的模式。然后，通过开发一种替代的开关法与慢/快模式相关的平均停留时间（MDADT）切换计划，新的充分条件，获得的SPCH系统的稳定。其次，通过设计一种新的切换反馈控制器，揭示了切换信号的特征，定义了一个指示函数，利用慢/快MDADT切换方案，得到了一种新的控制具有不稳定模式和AS的SPCH系统的判据。此外，基于所获得的结果和指示函数，相应的SPCH系统的控制条件也分别推导出在慢MDADT切换方案和传统的平均停留时间方案下。最后通过数值算例验证了所提方法的有效性。
In this paper, the problems of stabilisation andcontrol are addressed for switched port-controlled Hamiltonian (SPCH) systems with unstable modes and actuator saturation (AS) via energy-based multiple Lyapunov functions methods. Firstly, by a switching state feedback controller with truncation-inequality techniques, the considered system is transformed into an unforced SPCH system with asymptotically stable, stable and unstable modes. Then, by developing an alternative switching law with slow/fast mode-dependent average dwell time (MDADT) switching scheme, new sufficient conditions are obtained for stabilisation of the SPCH system. Secondly, by designing a new switchingfeedback controller, revealing the characteristics of alternative switching signals and defining an indicative function, a new criterion forcontrol of the SPCH systems with unstable modes and AS is achieved via the slow/fast MDADT switching scheme. Moreover, based on the obtained results and the indicative function,control conditions for the corresponding SPCH system are also derived under a slow MDADT switching scheme and a traditional average dwell time scheme, respectively. Finally, some numerical examples are given to verify the effectiveness of the proposed methods.