用于增强随机非线性系统动态性能的变增益LQG控制器

2010 International Conference on Intelligent Control and Information Processing Pub Date : 2010-09-09 DOI:10.1109/ICICIP.2010.5564267

Yongli Zhang, Hongxing Li, Yan-Rong Tan

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引用次数: 1

摘要

为了提高随机非线性系统的动态性能，设计了变增益LQG控制器(VGLQGC)。利用扩展卡尔曼滤波(EKF)对具有相关噪声的非线性控制系统在采样点处的状态变量进行估计。在每个采样区间内，根据估计的状态变量，采用基于分离原理的变增益线性二次调节器(VGLQR)进行最优控制。通过对一个固有不稳定的双倒立摆系统的控制，验证了该控制器的有效性。仿真实验结果表明，新方案能有效提高系统的动态性能。

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Variable gain LQG controller for enhancement of dynamic performance for stochastic nonlinear systems

In this paper, the variable gain LQG controller (VGLQGC) is designed for enhancement of dynamic performance for stochastic nonlinear systems. At sampling points the state variables of nonlinear control system with correlated noise is estimated by utilizing extended Kalman filter (EKF). In every sampling interval, according to the estimated state variables the optimal control is obtained by variable gain linear quadric regulator (VGLQR) based on separation principle. The controller has been validated by applying it to control a double inverted pendulum which is an inherently unstable system. The simulation experimental results show that the new scheme can effectively improve the dynamic performance.

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2010 International Conference on Intelligent Control and Information Processing

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