本文選題：分層控制 + 原始系統(tǒng)��； 參考：《中國科學(xué)技術(shù)大學(xué)》2017年博士論文

【摘要】：在過去的十多年間,線性和非線性系統(tǒng)的分層控制問題已有相當(dāng)多的研究。簡單來說,這個(gè)問題是為一個(gè)復(fù)雜系統(tǒng)設(shè)計(jì)一個(gè)控制律以使得其輸出軌跡滿足一些漸近性質(zhì)和一些輸出要求,例如區(qū)域可達(dá)性,區(qū)域不變性以及避障等。由于系統(tǒng)動(dòng)態(tài)的復(fù)雜性和控制目標(biāo)的多樣性,通常直接進(jìn)行系統(tǒng)控制以實(shí)現(xiàn)控制目標(biāo)是非常困難的。而分層方法以一種間接的方式來解決這個(gè)問題。它通過構(gòu)建一個(gè)簡單系統(tǒng)得到一個(gè)層次結(jié)構(gòu)。位于低層的是我們最終需要控制的原始系統(tǒng),而高層系統(tǒng)包括了一個(gè)簡單的抽象系統(tǒng),用來簡化控制器設(shè)計(jì)并減少復(fù)雜性。兩層系統(tǒng)被所謂的接口連接起來。接口可以驅(qū)動(dòng)原始系統(tǒng)的輸出近似跟蹤到高層抽象系統(tǒng)的輸出。當(dāng)抽象系統(tǒng)達(dá)到控制目標(biāo)時(shí),原始系統(tǒng)也可以達(dá)到相應(yīng)的目標(biāo)。另外,一個(gè)稱為模擬函數(shù)的概念可以用來幫助我們設(shè)計(jì)系統(tǒng)接口。分層控制理論已經(jīng)應(yīng)用于一些研究領(lǐng)域,包括機(jī)器人學(xué)、機(jī)械電子學(xué)、多智能體系統(tǒng)等。本論文主要研究非線性原始系統(tǒng)和線性抽象系統(tǒng)之間的接口設(shè)計(jì)。主要研究內(nèi)容包括以下幾個(gè)方面。首先,我們賦予了接口概念新的含義。在之前的工作中,接口為接口函數(shù)的簡稱,它假設(shè)原始系統(tǒng)的所有狀態(tài)信息是可得的。具有輸出反饋形式或者包含有一個(gè)微分方程的分層控制器從未被考慮過。為了將這種情況納入考慮范圍,我們引入了接口動(dòng)態(tài)的概念。接口不僅僅意味著接口函數(shù),同時(shí)也是指接口動(dòng)態(tài)。在這個(gè)設(shè)定下,我們可以在一個(gè)框架下設(shè)計(jì)狀態(tài)反饋控制器和輸出反饋控制器。另外,我們重新表述了分層控制問題。原來的表述只考慮了輸出誤差的瞬態(tài)響應(yīng),現(xiàn)在我們將一些穩(wěn)態(tài)約束也加入這個(gè)問題,使得它在一定程度上包含了漸近跟蹤問題。其次,我們?yōu)榫�性系統(tǒng)設(shè)計(jì)了兩類接口:接口函數(shù)和接口動(dòng)態(tài)。對于線性系統(tǒng),我們構(gòu)造了一個(gè)抽象系統(tǒng)使得我們能基于抽象系統(tǒng)的反饋增益來得到一個(gè)新的接口函數(shù),并且能以一個(gè)低階的正定矩陣表征新的模擬函數(shù)。換句話說,解決分層控制問題時(shí)我們需要的僅僅是抽象系統(tǒng)的信息而不是原始系統(tǒng)的信息,很明顯,前者比后者更容易得到。至于輸出反饋分層控制問題,我們使用狀態(tài)觀測器設(shè)計(jì)了一個(gè)接口動(dòng)態(tài)。然后,對于一般的非線性系統(tǒng),我們用反饋線性化方法設(shè)計(jì)了一個(gè)接口函數(shù)。由于在實(shí)際情況下,系統(tǒng)內(nèi)動(dòng)態(tài)部分狀態(tài)經(jīng)常是不可得的,所以我們設(shè)計(jì)了一個(gè)只使用系統(tǒng)輸出及其各階導(dǎo)數(shù)的接口函數(shù)。同時(shí),對于一類非線性系統(tǒng),我們通過高增益觀測器實(shí)現(xiàn)了一個(gè)只利用輸出信息的接口動(dòng)態(tài),其中觀測器用來產(chǎn)生系統(tǒng)輸出的導(dǎo)數(shù)的估計(jì)值。隨后,我們用一個(gè)單鏈機(jī)械臂系統(tǒng)的例子說明了所提出方法的有效性。至于含有不確定性參數(shù)的對象模型,其分層控制問題尚無研究。本文借助于輸出調(diào)節(jié)領(lǐng)域的內(nèi)模概念,通過遞歸過程得到了一個(gè)魯棒型的輸出接口動(dòng)態(tài),其中內(nèi)模的作用是漸近重構(gòu)控制器中的前饋項(xiàng)。然后我們又設(shè)計(jì)了一個(gè)自適應(yīng)型的接口動(dòng)態(tài)。最后,我們討論了大型網(wǎng)絡(luò)控制系統(tǒng)的分層問題。作為一個(gè)傳統(tǒng)模擬函數(shù)的自然擴(kuò)展,我們引入向量模擬函數(shù)的概念來研究互聯(lián)系統(tǒng)之間的層次關(guān)系。通過構(gòu)造一個(gè)比較系統(tǒng),我們給出了關(guān)于這個(gè)問題的一個(gè)一般結(jié)論。當(dāng)我們考慮一類互聯(lián)非線性系統(tǒng)時(shí),一個(gè)易檢驗(yàn)的充分條件可以用來判斷分層關(guān)系。最后基于這個(gè)條件,我們對線性互聯(lián)系統(tǒng)提出了一個(gè)抽象系統(tǒng)構(gòu)造方法。
[Abstract]:In the past more than 10 years, there have been considerable research on the hierarchical control problem of linear and nonlinear systems. Simply, the problem is to design a control law for a complex system to make its output trajectory satisfied with some asymptotic properties and some output requirements, such as regional accessibility, regional invariance, and obstacle avoidance. The complexity of the dynamic system and the diversity of controlling the target is often difficult to carry out direct system control to achieve the control goal. The hierarchical approach solves this problem in an indirect way. It gets a hierarchical structure by building a simple system. The low level is the original system that we eventually need to control. The high level system includes a simple abstract system to simplify the design of the controller and reduce the complexity. The two layer system is connected by the so-called interface. The interface can drive the output of the original system approximately to the output of the high level abstract system. When the abstract system reaches the control target, the original system can also achieve the corresponding target. In addition, a concept called analog function can be used to help us to design the system interface. The hierarchical control theory has been applied to some research fields, including robotics, mechanical electronics, multi-agent systems and so on. This paper mainly studies the interface design between the nonlinear original system and the linear pumping system. First, we have given the new meaning of the interface concept. In the previous work, the interface is the abbreviation of the interface function, which assumes that all the state information of the original system is available. A hierarchical controller with output feedback or a differential equation has never been considered. Considering the scope, we introduce the concept of interface dynamics. Interfaces not only mean interface functions, but also interface dynamics. Under this setting, we can design a state feedback controller and an output feedback controller under a framework. In addition, we reexpress the layer control problem. The original statement only takes into account the output error. The poor transient response, we now add some steady state constraints to this problem, so that it contains the asymptotic tracking problem to some extent. Secondly, we have designed two kinds of interfaces for linear systems: interface functions and interface dynamics. For linear systems, we construct an abstract system that allows us to be based on the inverse of the abstract system. In other words, we need only the information of the abstract system but not the information of the original system when solving the problem of stratified control. It is obvious that the former is easier to get than the latter. As for the output feedback stratified control question, it is obvious that the former is more easy to get. We use the state observer to design an interface dynamics. Then, for the general nonlinear system, we use the feedback linearization method to design an interface function. In the actual case, the dynamic partial state in the system is often inaccessible, so we set up a single use of the system output and its derivatives. At the same time, for a class of nonlinear systems, we implement an interface dynamics that only uses the output information through a high gain observer, in which the observer is used to generate the estimation of the derivative of the output of the system. Then, we use an example of a single chain manipulator system to illustrate the effectiveness of the proposed method. The problem of hierarchical control for qualitative parameters is not yet studied. In this paper, a robust output interface dynamic is obtained by recursive procedure with the help of the internal model concept in the field of output regulation. The function of the internal model is to reconstruct the feedforward item in the controller. Then we also design an adaptive interface dynamic. Then we discuss the stratification of large network control systems. As a natural extension of a traditional analogue function, we introduce the concept of vector analog functions to study the hierarchical relationship between interconnected systems. By constructing a comparative system, we give a general conclusion on this question. In conjunction with a nonlinear system, a easily verifiable sufficient condition can be used to judge the stratified relationship. Finally, based on this condition, we propose an abstract system construction method for linear interconnected systems.
【學(xué)位授予單位】：中國科學(xué)技術(shù)大學(xué)
【學(xué)位級(jí)別】：博士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP13

【參考文獻(xiàn)】

相關(guān)期刊論文 前1條

1 洪奕光;徐相如;;復(fù)雜系統(tǒng)控制分析綜合中的若干新方向[J];系統(tǒng)科學(xué)與數(shù)學(xué);2012年10期

，

本文編號(hào)：1904552