不确定分布参数系统与随机系统变结构控制设计及应用
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摘要
变结构控制出现于20世纪50年代,50年来已经取得了的很大发展。目前,已经形成了一个相对独立的研究分支,成为控制理论的一种重要的设计方法。在一定条件下,设计的滑动模控制律使得系统沿预先设计的滑动流形的滑动运动对系统的参数摄动和外干扰具有不变性。正是这种优异特性使得变结构控制方法受到许多学者的重视。本文研究了不确定分布参数系统、随机系统的变结构控制问题,并运用变结构控制理论,研究了一类带有执行机构船舶航向保持非线性系统。
第一章,我们简单的介绍了变结构控制理论及其发展历史,不确定分布参数系统、随机系统变结构控制的发展概况,以及船舶航向保持控制问题的背景知识。
第二章,研究了一类不确定分布参数系统的变结构控制问题。鉴于基于算子半群理论的研究方法通常会失去系统本身的一些特征,产生较大的误差,本章直接利用系统本身的特征,研究了一类分布参数系统的变结构控制问题。系统模型存在参数摄动和时变时滞双重因素,使得问题更加复杂、困难。提出的含有时滞项和不含有时滞项两种变结构控制律设计方法。这些控制方法不仅能保证系统状态轨迹在有限时间内到达滑动模,而且保证系统的滑动模态指数渐近稳定。给出了数值仿真例子来验证所提出的设计方法的有效性。
在接下来的两章,研究了It(o|^)型随机系统的变结构控制问题。由于随机控制系统能够精确描述系统周围的不确定因素,其理论研究一直受到许多学者的重视。第三章深入的研究了It(o|^)型集中参数随机系统的变结构控制问题。系统模型考虑了时变时滞、参数摄动以及非线性等多重因素。运用均值、方差概念来定义的滑动模可达性,更能反映系统的随机特征。文中给出了滑动模均方稳定的充分条件,所设计的变结构控制律能够保证滑动模具有可达性。
由于分布参数随机系统控制问题比较复杂,目前,这类系统还没有被深入研究。其原因可能是由于分布参数、随机因素双重复杂性。在第四章,把集中参数随机系统研究方法和变结构控制技术推广到分布参数随机系统,研究两类It(o|^)型分布参数随机系统的变结构控制问题。所设计的变结构控制律能够保证滑动模具有可达性。给出了数值仿真例子,验证了提出控制律的有效性。
第五章,将非线性系统变结构控制方法应用于带有执行机构的船舶航向保持系统。该系统的数学模型满足“三角形系统”形式。这类三角形系统的反馈线性化的充分必要条件要比反馈线性化理论的对合条件易于检验。设计的控制律,可以使得偏航船舶以指数渐近地镇定于设定航向。针对大连海事大学远洋实习船“育龙”号的仿真结果表明,所提出的设计方法是十分有效的。
第六章对论文进行了总结,并提出了一些有重大意义的研究方向。
The variable structure control appeared in the 1950s and the great progresses have been made for 50 years. At present, it is an independent research branch and has become an important designed method in control theory. Under certain conditions, the designed variable structure control law makes the sliding mode along a specified sliding manifold invariable to the system perturbation and external disturbances. Due to these good properties, many researchers have paid attention to this method. In this paper, the variable structure control problems of the uncertain distributed parameter systems and stochastic systems are studied, and the variable structure control theory is applied to study the nonlinear ship’course-keeping control system with actuator dynamics.
In the first chapter, we briefly introduce the variable structure control theory and its developing history, the survey of variable structure control of uncertain distributed parameter systems and stochastic systems, and the background knowledge of ship’course-keeping control systems.
In the second chapter, the variable structure control problem of a class of uncertain distributed parameter system is studied. Because the research methods based on operator semi-group theory usually lose some of the features of the system itself and then major errors arise, the characteristic of the systems itself is directly used to study the variable structure control problem of a class of distributed parameter system. The existence of uncertainties and time-varying delay makes the problem more complex and difficult. The two methods of the design of variable structure control laws with delay term and without delay term are presented, respectively. These control laws not only guarantee the system’s trajectories to reach the sliding mode in finite time, but also ensure the sliding mode to be exponentially asymptotically stable. Simulation examples are given to illustrate the effectiveness of the proposed design method.
In the next two chapters, the variable structure control problem of It(o|^) type stochastic systems is studied. As stochastic control systems can accurately describe the uncertain factors surrounding system, their theoretical research has been highly thought by many scholars. In the third chapter, the variable structure control problems of It(o|^) type stochastic systems with centralized parameters are thoroughly studied. The system model contains multiple factors such as time-varying delay, parameter perturbation and nonlinear. Using mean, variance conceptions in the definition of the sliding mode reachability can better reflect the stochastic characteristics of the systems. The sufficient conditions of sliding mode mean stability are given, and the variable structure control law can guarantee the sliding mode to have reachability.
As the control problems of the stochastic systems with distributed parameters are more difficult, these systems have not been studied still in a deepgoing way by now. The reasons probably arise from their double complexity of distributed parameters and stochastic factors. In the fourth chapter, the research methods in centralized parameter stochastic systems and the variable structure control techniques are applied to the distributed parameter stochastic systems, and the variable structure control problems of two classes of It(o|^) type stochastic systems with distributed parameter are studied. The variable structure control laws are designed to ensure the sliding mode to have reachability. The numerical simulation results are given to verify the effectiveness of the proposed control law.
In the fifth chapter, the variable structure control methods of nonlinear systems are used in the ship’s course-keeping system with actuator dynamics. The mathematic model of these system has the form of triangular system. The necessary and sufficient conditions for feedback linearization of this triangular system are more easily testified than the involutivity conditions for the feedback linearization theory. The designed control law can force a ship to exponentially asymptotically stabilize to a specified course. The simulation results on a far going experimental ship named‘YuLong’of Delian Maritime University show that the designed methods to be proposed is very effective.
In the sixth chapter, the full paper is summarized, and some greatly significant research directions are proposed.
第一章,我们简单的介绍了变结构控制理论及其发展历史,不确定分布参数系统、随机系统变结构控制的发展概况,以及船舶航向保持控制问题的背景知识。
第二章,研究了一类不确定分布参数系统的变结构控制问题。鉴于基于算子半群理论的研究方法通常会失去系统本身的一些特征,产生较大的误差,本章直接利用系统本身的特征,研究了一类分布参数系统的变结构控制问题。系统模型存在参数摄动和时变时滞双重因素,使得问题更加复杂、困难。提出的含有时滞项和不含有时滞项两种变结构控制律设计方法。这些控制方法不仅能保证系统状态轨迹在有限时间内到达滑动模,而且保证系统的滑动模态指数渐近稳定。给出了数值仿真例子来验证所提出的设计方法的有效性。
在接下来的两章,研究了It(o|^)型随机系统的变结构控制问题。由于随机控制系统能够精确描述系统周围的不确定因素,其理论研究一直受到许多学者的重视。第三章深入的研究了It(o|^)型集中参数随机系统的变结构控制问题。系统模型考虑了时变时滞、参数摄动以及非线性等多重因素。运用均值、方差概念来定义的滑动模可达性,更能反映系统的随机特征。文中给出了滑动模均方稳定的充分条件,所设计的变结构控制律能够保证滑动模具有可达性。
由于分布参数随机系统控制问题比较复杂,目前,这类系统还没有被深入研究。其原因可能是由于分布参数、随机因素双重复杂性。在第四章,把集中参数随机系统研究方法和变结构控制技术推广到分布参数随机系统,研究两类It(o|^)型分布参数随机系统的变结构控制问题。所设计的变结构控制律能够保证滑动模具有可达性。给出了数值仿真例子,验证了提出控制律的有效性。
第五章,将非线性系统变结构控制方法应用于带有执行机构的船舶航向保持系统。该系统的数学模型满足“三角形系统”形式。这类三角形系统的反馈线性化的充分必要条件要比反馈线性化理论的对合条件易于检验。设计的控制律,可以使得偏航船舶以指数渐近地镇定于设定航向。针对大连海事大学远洋实习船“育龙”号的仿真结果表明,所提出的设计方法是十分有效的。
第六章对论文进行了总结,并提出了一些有重大意义的研究方向。
The variable structure control appeared in the 1950s and the great progresses have been made for 50 years. At present, it is an independent research branch and has become an important designed method in control theory. Under certain conditions, the designed variable structure control law makes the sliding mode along a specified sliding manifold invariable to the system perturbation and external disturbances. Due to these good properties, many researchers have paid attention to this method. In this paper, the variable structure control problems of the uncertain distributed parameter systems and stochastic systems are studied, and the variable structure control theory is applied to study the nonlinear ship’course-keeping control system with actuator dynamics.
In the first chapter, we briefly introduce the variable structure control theory and its developing history, the survey of variable structure control of uncertain distributed parameter systems and stochastic systems, and the background knowledge of ship’course-keeping control systems.
In the second chapter, the variable structure control problem of a class of uncertain distributed parameter system is studied. Because the research methods based on operator semi-group theory usually lose some of the features of the system itself and then major errors arise, the characteristic of the systems itself is directly used to study the variable structure control problem of a class of distributed parameter system. The existence of uncertainties and time-varying delay makes the problem more complex and difficult. The two methods of the design of variable structure control laws with delay term and without delay term are presented, respectively. These control laws not only guarantee the system’s trajectories to reach the sliding mode in finite time, but also ensure the sliding mode to be exponentially asymptotically stable. Simulation examples are given to illustrate the effectiveness of the proposed design method.
In the next two chapters, the variable structure control problem of It(o|^) type stochastic systems is studied. As stochastic control systems can accurately describe the uncertain factors surrounding system, their theoretical research has been highly thought by many scholars. In the third chapter, the variable structure control problems of It(o|^) type stochastic systems with centralized parameters are thoroughly studied. The system model contains multiple factors such as time-varying delay, parameter perturbation and nonlinear. Using mean, variance conceptions in the definition of the sliding mode reachability can better reflect the stochastic characteristics of the systems. The sufficient conditions of sliding mode mean stability are given, and the variable structure control law can guarantee the sliding mode to have reachability.
As the control problems of the stochastic systems with distributed parameters are more difficult, these systems have not been studied still in a deepgoing way by now. The reasons probably arise from their double complexity of distributed parameters and stochastic factors. In the fourth chapter, the research methods in centralized parameter stochastic systems and the variable structure control techniques are applied to the distributed parameter stochastic systems, and the variable structure control problems of two classes of It(o|^) type stochastic systems with distributed parameter are studied. The variable structure control laws are designed to ensure the sliding mode to have reachability. The numerical simulation results are given to verify the effectiveness of the proposed control law.
In the fifth chapter, the variable structure control methods of nonlinear systems are used in the ship’s course-keeping system with actuator dynamics. The mathematic model of these system has the form of triangular system. The necessary and sufficient conditions for feedback linearization of this triangular system are more easily testified than the involutivity conditions for the feedback linearization theory. The designed control law can force a ship to exponentially asymptotically stabilize to a specified course. The simulation results on a far going experimental ship named‘YuLong’of Delian Maritime University show that the designed methods to be proposed is very effective.
In the sixth chapter, the full paper is summarized, and some greatly significant research directions are proposed.
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