Optimal Tracking Control Method for Discrete-time Linear Multivariable Systems with Decoupling Performance

被引：0
|
作者：
Fu Y. [1 ]
Chen W. [1 ]
机构：
[1] State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University, Shenyang
来源：
Zidonghua Xuebao/Acta Automatica Sinica | 2022年 / 48卷 / 08期
基金：
中国国家自然科学基金;
关键词：
Decoupling; discrete-time linear systems; multivariable systems; tracking control;
D O I：
10.16383/j.aas.c190748
中图分类号：
学科分类号：
摘要：
In this paper, for a class of discrete-time multivariable linear systems with strong coupling property, based on the traditional linear quadratic tracking control method, an optimal tracking controller with decoupling performance is proposed. First, in order to achieve decoupling, the coupling term is viewed as the measurable disturbance, and then a novel performance index which is inspired by the two-player Zero-Sum game problem is introduced. Based on the novel performance index, the optimal tracking controller is derived by using the minimum principle. Then, it is proved that by choosing appropriate weighting matrices, the proposed method can simultaneously decouple the closed-loop system in dynamic and make the tracking error converge asymptotically. Finally, simulations are conducted, whose results demonstrate the effectiveness of the proposed method and its superiority in optimal performance comparing with the traditional controller. © 2022 Science Press. All rights reserved.
引用
下载
收藏
页码：1931 / 1939
页数：8
相关论文
共 20 条
  • [1] Tien L, Schaffer A., Robust adaptive tracking control based on state feedback controller with integrator terms for elastic joint robots with uncertain parameters, IEEE Transactions on Control Systems Technology, 26, 6, pp. 2259-2267, (2018)
  • [2] Qiu B, Wang G, Fan Y, Mu D, Sun X., Robust adaptive trajectory linearization control for tracking control of surface vessels with modeling uncertainties under input saturation, IEEE Access, 7, pp. 5057-5070, (2018)
  • [3] Chai R, Savvaris A, Tsourdos A, Chai S, Xia Y., Optimal tracking guidance for aeroassisted spacecraft reconnaissance mission based on receding horizon control, IEEE Transactions on Aerospace and Electronic Systems, 54, 4, pp. 1575-1588, (2018)
  • [4] Fujimoto H, Kawamura A., Perfect tracking digital motion control based on two-degree-of-freedom multi-rate feedforward control, Proceedings of the International Workshop on Advanced Motion Control, pp. 322-327, (1998)
  • [5] Fujimoto H, Hori Y, Kawamura A., Perfect tracking control based on multi-rate feedforward control with generalized sampling Periods, IEEE Transactions on Industrial Electronics, 48, 3, pp. 636-644, (2001)
  • [6] Liu L, Huang J., Global robust output regulation of output feedback systems with unknown high-frequency gain sign, IEEE Transactions on Automatic Control, 51, 4, (2006)
  • [7] Li T, Wang D, Feng G, Tong S., A DSC approach to robust adaptive NN tracking control for strict-feedback nonlinear systems, IEEE Transactions on Systems, Man, and Cybernetics, 40, 3, pp. 915-927, (2010)
  • [8] Liu Y, Wang W, Tong S, Liu Y., Robust adaptive tracking control for nonlinear systems based on bounds of fuzzy approximation parameters, IEEE Transactions on Systems, Man, and Cybernetics, 40, 1, pp. 170-184, (2010)
  • [9] Wang N, Sun J, Er M., Tracking-error-based universal adaptive fuzzy control for output tracking of nonlinear systems with completely unknown dynamics, IEEE Transactions on Fuzzy Systems, 26, 2, pp. 869-883, (2018)
  • [10] Lewis F, Vrabie D, Syrmos V., Optimal Control, pp. 190-195, (2012)
12