Final-State Control Using Compensation Input
Final-State Control Using Compensation Input
复制标题
使用补偿输入的最终状态控制
DOI：
10.9746/sicetr1965.30.253
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发表时间：
1994
期刊：
影响因子：
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通讯作者：
H. Nishimura
中科院分区：
文献类型：
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作者：
T. Totani;H. Nishimura
本文提出了一种利用补偿输入使动态系统的状态在规定时间内转换到规定状态的方法，并给出了在最小输入范数条件下求取补偿输入的简单公式。输入值在初始和最终的时间也可以指定，它表明，所提出的方法包括解决方案，固定的最终状态的最优控制问题。本文讨论了所提出的方法的最终状态控制性能的鲁棒性相比，反馈控制本身，它表明，在一定的条件下，有补偿输入的最终状态误差小于没有它，即使系统参数发生变化。它也表明，该方法可以应用到一个闭环系统的状态观测器或反馈控制器，以及状态反馈系统。作为一个例子，示出了小车和摆系统的定位和摆动控制的仿真结果。
This paper proposes a method for transferring the state of a dynamic system to a specified state within a specified time by using a compensation input, and presents a simple formula for obtaining the compensation input under a minimum input-norm condition. Input values at the initial and final times also can be specified, and it is shown that the proposed method includes solutions to fixed-final-state optimal control problems. The paper discusses the robustness of the final-state control performance of the proposed method as compared with feedback control itself, and it is shown that, under a certain condition, the final-state error with the compensation input is less than without it, even if the system parameters are changed. It is also shown that the method can be applied to a closed-loop system with a state observer or a feedback controller, as well as to a state feedback system. Simulation results of a positioning and swing control for a cart and pendulum system are shown as an example.