基于鲁棒控制理论多模型分层切换控制.pdfVIP

Vol. 32, No. 3 ACTA AUTOMATICA SINICA May, 2006 Hierarchical Switching Control of Multiple Models Based on Robust Control Theory GAO FENG LI Ke-Qiang LIAN Xiao-Min (State Key Laboratory of Automotive Safety and Energy,Tsinghua University, Beijing 100084) (E-mail: gao-f01@mails.tsinghua.edu.cn) Abstract A new hierarchical switching control system of multiple models based on robust control theory is designed for some plant with large uncertainties. The model set and controller set are designed by robust control theory and the characteristics of robust control system are taken into ac- count. A new kind of switching index function by estimating uncertainty is designed. Furthermore, stability of the closed system is analyzed by the small gain theorem in the sense of exponentially weighted L2 norm. And simulation is done on a plant with both parameter uncertainty and un- modeled dynamics. Both theoretical analysis and simulation results show that this new hierarchical switching control system can control the plant with large uncertainties effectively and has good performance of tracking and stability. Key words Multiple model control, switching control, supervisory control, robust control 1 Introduction Plant models are inherently inaccurate and if the model uncertainties are “sufficiently small”, modern control theories can be used to design the controller that ensures satisfactory closed loop per- formance. But for “ large” model uncertainties, common sense suggests and simple examples prove that no single, fixed-parameter controller