The effects of the distance to uncontrollability in redundant optimal control
The effects of the distance to uncontrollability in redundant optimal control
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DOI：
10.1109/chicc.2014.6896518
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发表时间：
2014-07
期刊：
影响因子：
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通讯作者：
Yaping Xia;Chenxiao Cai;Minghui Yin;Y. Zou
中科院分区：
文献类型：
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作者：
Yaping Xia;Chenxiao Cai;Minghui Yin;Y. Zou
本文通过求解Riccati方程，给出了新的不可控距离下界和上界。在冗余最优控制中，导出了到不可控距离越大，二次性能指标越小。在此结果的基础上，我们得到了在新的下界和上界的基础上，通过控制输入的扩展严格增大到不可控距离的一些充分条件。研究结果表明，如何选择冗余控制输入以提高线性系统的控制性能。同时，从这些结果可以看出单输入控制系统与多输入控制系统的本质区别。数值结果表明，这些条件是有效的。
In the paper, the new lower and upper bounds of the distance to uncontrollability are presented by solving the Riccati equations. In redundant optimal control, it is derived that the larger distance to uncontrollability would lead to the smaller quadratic performance index. Due to this result, we obtain some sufficient conditions to strictly increase the distance to uncontrollability with the control input extensions on the basis of the new lower and upper bounds. These results show that how to choose the redundant control inputs to improve the control performance of linear system. Meanwhile, an essential difference is showed from these results between single-input and multi-input control systems. Numerical results illustrate that these conditions work well.