联合本地和全局控制器

Proceedings of the 38th IEEE Conference on Decision and Control (Cat. No.99CH36304) Pub Date : 1999-12-07 DOI:10.1109/CDC.1999.830096

C. Prieur, L. Praly

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引用次数: 74

摘要

我们考虑已知两个稳定控制器的控制系统。前者是“最优的”，但是局部的，后者是全球性的。我们寻找一个能提供全局稳定的局部最优控制器的统一控制律。研究了基于连续、不连续、混合、时变控制器的几种解决方案。控制器选择的标准之一是全局渐近稳定性对测量噪声消失的鲁棒性。这特别导致我们考虑混合系统的Krasovskii解的一种推广。

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Uniting local and global controllers

We consider control systems for which we know two stabilizing controllers. The former is "optimal" but local, the latter is global. We look for a uniting control law providing a globally stabilizing locally optimal controller. We study several solutions based on continuous, discontinuous, hybrid, time varying controllers. One criterion of selection of a controller is the robustness of the global asymptotic stability to vanishing measurement noise. This leads us in particular to consider a kind of generalization of Krasovskii solutions for hybrid systems.

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来源期刊

Proceedings of the 38th IEEE Conference on Decision and Control (Cat. No.99CH36304)

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