参数不确定时滞Hamilton系统基于观测器的控制

发布时间：2018-08-17 17:06

【摘要】：在实际应用中,系统的状态很多时候是不能完全被测量到的,因此非线性系统的观测器设计是系统控制理论的一个重要研究方向.近二十多年来,产生了一批有关非线性观测器的设计问题的研究成果.而作为一类重要的非线性系统,端口受控Hamilton系统基于观测器的控制问题也得到了关注.考虑到系统中不可避免的时滞、随机干扰等因素,研究非线性Hamilton系统基于观测器的控制具有重要意义.本文首先针对一类在控制器实现过程中不可避免地存在输入和输出时滞以及外部干扰的不确定Hamilton系统,构造了Luenberger型观测器,基于不确定时滞Hamilton系统的耗散结构特性以及Lyapunov Razumikhin函数定理,得到了使闭环系统对于给定的任意大但有界的时滞渐近稳定的充分条件.对于系统出现外部扰动和时滞的情况,通过增加辅助参考输入,设计了一个基于观测器的控制器.结果表明所得闭环系统的反馈控制律可以保证系统满足耗散不等式.最后,给出电力系统基于观测器的控制仿真实例验证所得结论的有效性.此外,本文讨论了一类具有状态时滞和参数不确定的随机Hamilton系统基于观测器的控制研究,通过构造微分状态观测器并选取适当的Lyapunov函数,应用最近出现的Wirtinger不等式,得到了时滞相关的渐进稳定的充分条件,从而得到系统基于观测器的鲁棒自适应控制器.接着,对于系统在不受随机干扰的情况,应用Wirtinger不等式得到了基于观测器的自适应稳定性条件.本文针对于随机系统所提出的观测器摒弃了随机干扰项,使得观测器更加稳固和容易实现.
[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.
【学位授予单位】：曲阜师范大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：O231

【参考文献】