控制输入受限的板球系统滚动线性二次型调节器控制

doi:10.13229/j.cnki.jdxbgxb20200600

摘要/Abstract

摘要：

为了实现板球系统高精度的轨迹跟踪目标，首先根据目标轨迹，利用微分平坦技术得到前馈控制量和目标状态量。然后，基于目标状态建立偏差系统，结合预测控制中的滚动优化思想设计了滚动线性二次型（LQR）控制器。最后，考虑到被控对象输入受限的情况，在变椭圆域约束的条件下优化控制系统性能，并通过本地管理接口（LMI）求解出控制器。仿真结果显示，在输入受限的情况下，板球系统具有良好的轨迹跟踪性能、稳态性能和鲁棒性能。

关键词: 自动控制技术, 板球系统, 输入受限, 微分平坦, 滚动线性二次型控制, 变椭圆域约束

Abstract:

This paper studies the trajectory tracking control of ball and plate system with actuator dynamic being considered. To realize precise trajectory tracking control, three steps are included as following. Firstly, according to the target trajectory, the feedforward control and target state are obtained using differential flatness technology. Secondly, tracking error system is established according to the target state and then a moving horizon Linear-Quadratic Regulator (LQR) controller is designed based on one of three fundamental principles of model predictive control. Thirdly, considering the practical constraints of control inputs, the target controller is achieved by solving Linear Matrix Inequalities（LMIs） under the condition of variable elliptic domain limits. Simulation results show that the closed-loop system has good trajectory tracking performance, steady state performance and robust performance under input constraints.

Key words: automatic control technology, ball and plate system, input constraints, differential flat, moving horizon linear quadratic regulator （LQR） control, variable elliptic domain limits

中图分类号:

TP273

韩光信,赵聚乐,胡云峰. 控制输入受限的板球系统滚动线性二次型调节器控制[J]. 吉林大学学报(工学版), 2021, 51(6): 1982-1989.

Guang-xin HAN,Ju-le ZHAO,Yun-feng HU. Moving horizon linear quadratic regulator control for ball and plate system with input constraints[J]. Journal of Jilin University(Engineering and Technology Edition), 2021, 51(6): 1982-1989.

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