饱和非线性系统控制研究
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摘要
在工程实践当中，执行器由于无法传输无限大控制信号经常发生饱和现象。执行器饱和使得闭环系统性能显著下降，对于开环不稳定系统甚至可能导致闭环系统不稳定。多起由执行器饱和引发的灾难事故促使人们渐渐的重视并研究饱和现象。在过去的几十年中，随着人们对饱和非线性研究的不断深入，饱和系统控制问题，包括镇定及抗饱和补偿器设计，获得了巨大的发展。到目前为止，针对饱和系统镇定及抗饱和控制问题已经提出了许多不同的控制策略和有效的优化算法。然而，已有的控制策略及设计方法主要针对的是饱和线性系统。对于饱和非线性系统控制的研究成果相对较少且主要针对的是带有某种“可线性化”特征的饱和非线性系统，适用范围较窄。为此，本文首先对现有研究成果存在的不足进行改进，提出新的抗饱和控制策略，并在此基础上研究更一般饱和非线性系统镇定及抗饱和控制问题。
本文研究的主要内容和创新点包括以下几个方面：
1.介绍了有关饱和线性和非线性系统状态反馈及抗饱和控制的研究现状，并重点对不同饱和函数处理方法以及抗饱和控制框架的研究与发展进行了阐述与分析。
2.现有的基于DAR技术的有理系统抗饱和控制策略在获得用于设计静态抗饱和补偿器的LMI条件过程中对椭球域E(P)人为添加了额外约束，因而在估计闭环系统吸引域时显得略微保守。为了减小吸引域估计的保守性，本文提出了基于LFR技术的动(静)态抗饱和补偿器设计方法。由于无需添加额外约束即可获得用于估计闭环系统吸引域的LMI条件，因而本文所提出的方法将在稳定性分析上取得一定优势。当预先设计的控制器为线性的时候，提出了增广型动(静)态抗饱和补偿控制理念，即将可测量的非线性信号用于对传统线性抗饱和控制器的补偿，从达到扩大优化自由度、进一步降低保守性的目的。通过数值仿真指出了增广型抗饱和控制器设计原则，即对非线性项描述越是保守，越需要对其进行测量并用于增广型抗饱和控制器设计。
3.通过LFR技术将饱和有理系统控制的研究对象扩展至更一般的饱和非线性系统。在此基础上，首先研究了饱和非线性系统的镇定问题，即设计非线性状态反馈控制律使得的闭环系统渐进稳定。与传统的线性状态反馈相比，本文所提出的非线性状态反馈能够进一步扩大闭环系统稳定区域。
4.研究了两种更一般的饱和非线性系统的静态抗饱和补偿器设计问题，获得了基于LMI条件的静态抗饱和补偿器设计方法。同时还将增广型静态抗饱和补偿控制理念进行了拓展，使其适用于所研究的更一般的饱和非线性系统。通过数值仿真证明了增广型静态抗饱和控制策略不但能进一步扩大闭环系统吸引域的估计、减小保守性，还能极大地提高闭环系统L2性能。对于没有预先设计好的控制器的情况，在受控系统输入矩阵为常矩阵的假设下，提出了基于LMI条件的非线性控制器及静态抗饱和补偿器同时设计的方法，并通过数值仿真证明了该方法的有效性及优越性。本文最后，在总结全文的基础上，提出了有待进一步研究和探索的一些问题。
In engineering practice, saturation phenomenon are often encountered since actua-tors cannot deliver unlimited signals. The performance of the closed-loop systems maydeteriorate，and for open-loop unstable systems even instability may be induced dueto actuator saturation. Several disasters caused by actuator saturation have promptedresearchers attaching great importance to saturation phenomenon. In the past severaldecades, researches on control problems for saturated systems including stabilization andanti-windup compensator design have advanced signifcantly along with the deepgoingof studies on saturation nonlinearity. Until now, many diferent control strategies andoptimization algorithms have been proposed for solving the stabilization and anti-windupproblems. However, the majority of existing techniques regards linear systems and onlyfew works are committed to nonlinear systems with some”linearizable” features. Hence,the existing techniques cannot be applied to general nonlinear systems. For this reason,the dissertation frstly propose new control strategies to overcome the defciencies of theexisting techniques and then extends the techniques to general nonlinear systems.
The main research content and primary innovation of the dissertation can be sum-marized as follows:
1. Research status of stabilization and anti-windup synthesis is introduced for sat-urated linear and nonlinear systems. More attention has been paid to the discussionand analysis of diferent methods tackling saturation nonlinearity and the evolution ofanti-windup frameworks.
2. The existing static anti-windup strategies for rational systems are based on DARtechnique. In order to obtain LMI-based synthesis conditions an additional constrainton the ellipsoid E(P) has been introduced which may cause a slightly large conservatismwhen estimating the region of attraction. In order to reduce the conservatism, the dis-sertation proposes the dynamic (and static) anti-windup synthesis methods based on theLFR technique by which an additional constraint can be avoided. Hence, it is expect-ed that the proposed methods would be less conservative for the purpose of stabilityanalysis. When the pre-designed controller is linear a modifed anti-windup strategy inwhich the measurable nonlinearity is introduced into the traditional anti-windup con-troller is proposed to increase the optimization degree of freedom and to further reducethe conservatism.
3. By LFR technique, the research object can be extended to a class of more generalnonlinear systems. On this basis, the stabilization problem, i.e. designing a nonlinear state feedback controller such that the closed-loop system is asymptotically stable, forthe general nonlinear systems is frstly investigated. Compared with the traditional linearfeedback control law,the nonlinear version can further enlarge the stability region of theclosed-loop system.
4. Static anti-windup synthesis for two classes of more general nonlinear systemsis investigated and LMI-based synthesis conditions are proposed. The modifed anti-windup strategy are extended so that it is applicable to the class of saturated nonlinearsystems. Numerical examples have shown the modifed anti-windup controller can furtherenlarge the region of attraction and also improve the L2performances tremendously.When a pre-designed controller is unavailable, LMI-based conditions for the synthesis ofa simultaneous nonlinear and anti-windup controller are proposed under the assumptionof constant input matrices of the controlled nonlinear systems. Numerical examples haveshown the efectiveness and superiority of the proposed synthesis method.
Finally, the main results of the dissertation are concluded and some issues for furtherresearch and exploration are proposed.
本文研究的主要内容和创新点包括以下几个方面：
1.介绍了有关饱和线性和非线性系统状态反馈及抗饱和控制的研究现状，并重点对不同饱和函数处理方法以及抗饱和控制框架的研究与发展进行了阐述与分析。
2.现有的基于DAR技术的有理系统抗饱和控制策略在获得用于设计静态抗饱和补偿器的LMI条件过程中对椭球域E(P)人为添加了额外约束，因而在估计闭环系统吸引域时显得略微保守。为了减小吸引域估计的保守性，本文提出了基于LFR技术的动(静)态抗饱和补偿器设计方法。由于无需添加额外约束即可获得用于估计闭环系统吸引域的LMI条件，因而本文所提出的方法将在稳定性分析上取得一定优势。当预先设计的控制器为线性的时候，提出了增广型动(静)态抗饱和补偿控制理念，即将可测量的非线性信号用于对传统线性抗饱和控制器的补偿，从达到扩大优化自由度、进一步降低保守性的目的。通过数值仿真指出了增广型抗饱和控制器设计原则，即对非线性项描述越是保守，越需要对其进行测量并用于增广型抗饱和控制器设计。
3.通过LFR技术将饱和有理系统控制的研究对象扩展至更一般的饱和非线性系统。在此基础上，首先研究了饱和非线性系统的镇定问题，即设计非线性状态反馈控制律使得的闭环系统渐进稳定。与传统的线性状态反馈相比，本文所提出的非线性状态反馈能够进一步扩大闭环系统稳定区域。
4.研究了两种更一般的饱和非线性系统的静态抗饱和补偿器设计问题，获得了基于LMI条件的静态抗饱和补偿器设计方法。同时还将增广型静态抗饱和补偿控制理念进行了拓展，使其适用于所研究的更一般的饱和非线性系统。通过数值仿真证明了增广型静态抗饱和控制策略不但能进一步扩大闭环系统吸引域的估计、减小保守性，还能极大地提高闭环系统L2性能。对于没有预先设计好的控制器的情况，在受控系统输入矩阵为常矩阵的假设下，提出了基于LMI条件的非线性控制器及静态抗饱和补偿器同时设计的方法，并通过数值仿真证明了该方法的有效性及优越性。本文最后，在总结全文的基础上，提出了有待进一步研究和探索的一些问题。
In engineering practice, saturation phenomenon are often encountered since actua-tors cannot deliver unlimited signals. The performance of the closed-loop systems maydeteriorate，and for open-loop unstable systems even instability may be induced dueto actuator saturation. Several disasters caused by actuator saturation have promptedresearchers attaching great importance to saturation phenomenon. In the past severaldecades, researches on control problems for saturated systems including stabilization andanti-windup compensator design have advanced signifcantly along with the deepgoingof studies on saturation nonlinearity. Until now, many diferent control strategies andoptimization algorithms have been proposed for solving the stabilization and anti-windupproblems. However, the majority of existing techniques regards linear systems and onlyfew works are committed to nonlinear systems with some”linearizable” features. Hence,the existing techniques cannot be applied to general nonlinear systems. For this reason,the dissertation frstly propose new control strategies to overcome the defciencies of theexisting techniques and then extends the techniques to general nonlinear systems.
The main research content and primary innovation of the dissertation can be sum-marized as follows:
1. Research status of stabilization and anti-windup synthesis is introduced for sat-urated linear and nonlinear systems. More attention has been paid to the discussionand analysis of diferent methods tackling saturation nonlinearity and the evolution ofanti-windup frameworks.
2. The existing static anti-windup strategies for rational systems are based on DARtechnique. In order to obtain LMI-based synthesis conditions an additional constrainton the ellipsoid E(P) has been introduced which may cause a slightly large conservatismwhen estimating the region of attraction. In order to reduce the conservatism, the dis-sertation proposes the dynamic (and static) anti-windup synthesis methods based on theLFR technique by which an additional constraint can be avoided. Hence, it is expect-ed that the proposed methods would be less conservative for the purpose of stabilityanalysis. When the pre-designed controller is linear a modifed anti-windup strategy inwhich the measurable nonlinearity is introduced into the traditional anti-windup con-troller is proposed to increase the optimization degree of freedom and to further reducethe conservatism.
3. By LFR technique, the research object can be extended to a class of more generalnonlinear systems. On this basis, the stabilization problem, i.e. designing a nonlinear state feedback controller such that the closed-loop system is asymptotically stable, forthe general nonlinear systems is frstly investigated. Compared with the traditional linearfeedback control law,the nonlinear version can further enlarge the stability region of theclosed-loop system.
4. Static anti-windup synthesis for two classes of more general nonlinear systemsis investigated and LMI-based synthesis conditions are proposed. The modifed anti-windup strategy are extended so that it is applicable to the class of saturated nonlinearsystems. Numerical examples have shown the modifed anti-windup controller can furtherenlarge the region of attraction and also improve the L2performances tremendously.When a pre-designed controller is unavailable, LMI-based conditions for the synthesis ofa simultaneous nonlinear and anti-windup controller are proposed under the assumptionof constant input matrices of the controlled nonlinear systems. Numerical examples haveshown the efectiveness and superiority of the proposed synthesis method.
Finally, the main results of the dissertation are concluded and some issues for furtherresearch and exploration are proposed.
引文
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