Hierarchical Switching Control of Longitudinal Acceleration With Large Uncertainties

G. Feng, Wang Jianqiang, L. Keqiang
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引用次数: 20

Abstract

In this study, a hierarchical switching control strategy based on robust control theory is proposed to control longitudinal acceleration with large uncertainties. A model set, which is made up of four multiplicative-uncertainty models, is built to cover all uncertainties that arise from unmodeled dynamics and parameter uncertainties. The corresponding controller set is designed by LMI approach, which confirms the robust performance. Considering the characteristics of robust control systems, a switching index function by estimating model uncertainties is designed to determine when and which controller should be switched into the closed loop. Both theoretical analysis and experiments have been carried out to validate the effectiveness of the proposed strategy. And the results show that it has good performance of robust stability and tracking.
大不确定性纵向加速度的层次切换控制
本文提出了一种基于鲁棒控制理论的分层切换控制策略,用于控制具有较大不确定性的纵向加速度。建立了一个由四个乘法不确定性模型组成的模型集,以涵盖未建模动力学和参数不确定性引起的所有不确定性。采用LMI方法设计了相应的控制器集,验证了系统的鲁棒性。考虑到鲁棒控制系统的特点,通过估计模型的不确定性,设计了一个切换指标函数来确定控制器何时切换到闭环。通过理论分析和实验验证了所提策略的有效性。结果表明,该方法具有良好的鲁棒性、稳定性和跟踪性能。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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