【摘要】：在實(shí)際應(yīng)用中,系統(tǒng)的狀態(tài)很多時(shí)候是不能完全被測(cè)量到的,因此非線性系統(tǒng)的觀測(cè)器設(shè)計(jì)是系統(tǒng)控制理論的一個(gè)重要研究方向.近二十多年來(lái),產(chǎn)生了一批有關(guān)非線性觀測(cè)器的設(shè)計(jì)問(wèn)題的研究成果.而作為一類(lèi)重要的非線性系統(tǒng),端口受控Hamilton系統(tǒng)基于觀測(cè)器的控制問(wèn)題也得到了關(guān)注.考慮到系統(tǒng)中不可避免的時(shí)滯、隨機(jī)干擾等因素,研究非線性Hamilton系統(tǒng)基于觀測(cè)器的控制具有重要意義.本文首先針對(duì)一類(lèi)在控制器實(shí)現(xiàn)過(guò)程中不可避免地存在輸入和輸出時(shí)滯以及外部干擾的不確定Hamilton系統(tǒng),構(gòu)造了Luenberger型觀測(cè)器,基于不確定時(shí)滯Hamilton系統(tǒng)的耗散結(jié)構(gòu)特性以及Lyapunov Razumikhin函數(shù)定理,得到了使閉環(huán)系統(tǒng)對(duì)于給定的任意大但有界的時(shí)滯漸近穩(wěn)定的充分條件.對(duì)于系統(tǒng)出現(xiàn)外部擾動(dòng)和時(shí)滯的情況,通過(guò)增加輔助參考輸入,設(shè)計(jì)了一個(gè)基于觀測(cè)器的控制器.結(jié)果表明所得閉環(huán)系統(tǒng)的反饋控制律可以保證系統(tǒng)滿足 耗散不等式.最后,給出電力系統(tǒng)基于觀測(cè)器的控制仿真實(shí)例驗(yàn)證所得結(jié)論的有效性.此外,本文討論了一類(lèi)具有狀態(tài)時(shí)滯和參數(shù)不確定的隨機(jī)Hamilton系統(tǒng)基于觀測(cè)器的控制研究,通過(guò)構(gòu)造微分狀態(tài)觀測(cè)器并選取適當(dāng)?shù)腖yapunov函數(shù),應(yīng)用最近出現(xiàn)的Wirtinger不等式,得到了時(shí)滯相關(guān)的漸進(jìn)穩(wěn)定的充分條件,從而得到系統(tǒng)基于觀測(cè)器的魯棒自適應(yīng)控制器.接著,對(duì)于系統(tǒng)在不受隨機(jī)干擾的情況,應(yīng)用Wirtinger不等式得到了基于觀測(cè)器的自適應(yīng)穩(wěn)定性條件.本文針對(duì)于隨機(jī)系統(tǒng)所提出的觀測(cè)器摒棄了隨機(jī)干擾項(xiàng),使得觀測(cè)器更加穩(wěn)固和容易實(shí)現(xiàn).
[Abstract]:In practical applications, the state of the system can not be completely measured, so the observer design of nonlinear systems is an important research direction of system control theory. In recent twenty years, a lot of research results about nonlinear observer design have been produced. As an important class of nonlinear systems, observer-based control of port-controlled Hamilton systems is also concerned. Considering the inevitable time delay and stochastic disturbance in the system, it is very important to study the observer based control of nonlinear Hamilton systems. In this paper, a Luenberger observer is constructed for a class of uncertain Hamilton systems in which input and output delays and external disturbances inevitably exist in the implementation of the controller. Based on the dissipative structure of uncertain time-delay Hamilton systems and the Lyapunov Razumikhin function theorem, a sufficient condition for the asymptotic stability of the closed-loop system for any given large but bounded time-delay is obtained. In the case of external disturbance and delay, an observer based controller is designed by adding auxiliary reference input. The results show that the feedback control law of the closed-loop system can ensure that the system satisfies the dissipative inequality. Finally, the simulation example of power system based on observer is given to verify the validity of the conclusion. In addition, in this paper, observer based control of a class of stochastic Hamilton systems with state delay and uncertain parameters is discussed. By constructing a differential state observer and selecting appropriate Lyapunov functions, the recently appeared Wirtinger inequality is applied. Sufficient conditions for the asymptotic stability of time-delay dependent systems are obtained, and a robust adaptive controller based on observers is obtained. Then, for the system without random disturbance, the adaptive stability condition based on observer is obtained by using Wirtinger inequality. In this paper, the observer proposed for stochastic systems is rid of the random disturbance term, which makes the observer more stable and easy to implement.
【學(xué)位授予單位】：曲阜師范大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類(lèi)號(hào)】：O231

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本文編號(hào)：2188318