二阶动态系统P-D反馈特征结构最小控制力分配

2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508) Pub Date : 2004-09-02 DOI:10.1109/CACSD.2004.1393900

G. Duan, Guo-sheng Wang

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引用次数: 4

摘要

研究了一类二阶动态系统在最小控制努力下的比例加导数反馈特征结构分配设计问题。利用文中提出的P-D反馈参数特征结构赋值结果，将设计问题表述为约束最小化问题，并提出了求解约束最小化问题的相应算法。当闭环特征值不确定时，这种最小化既涉及闭环特征值，也涉及一组参数向量。由于特征结构分配的简洁性、显式性和完备性，该算法简单有效。一个三集总质量-弹簧减震器系统的仿真结果表明了该算法的有效性

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P-D feedback eigenstructure assignment with minimum control effort in second-order dynamic systems

The design of proportional plus derivative (P-D) feedback eigenstructure assignment with minimum control effort is considered in a class of second-order dynamic systems. By utilizing the result of parametric eigenstructure assignment via P-D feedback proposed in, the design problem is formulated as a constrained minimization problem and a corresponding algorithm for this minimization problem is then proposed. This minimization involves the closed-loop eigenvalues as well as a group of parameter vectors when the closed-loop eigenvalues are not prescribed. Due to the simplicity, explicity and completeness of eigenstructure assignment, the proposed algorithm is simple and efficient. A three lumped mass-spring dashpot system and the simulation results show the effect of this proposed algorithm

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来源期刊

2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508)

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