具有切换结构的非线性系统最优控制方法的研究.pdf

for Control Nonlinear Optimal Approach System with Structure Switching Zhao Rui—yan(InformationControlEngineering) DirectedProf．Li by Shu—rong Abstract Inthis control and ofnonlinearwith dissertation，optimaltheoryapplications system infinitehorizonare main are structure researched，andcontributionssummarized switching asfollows： Thesubsection methodis to the timesfor gradient proposedoptimizeswitching controllaws．Thetimehorizonis intoseveralsubintervals Bang—Bang partitioned according tocontrol thetime aredefinedas times，and segments switching optimizationparameters．By anormalizedtime timeintervalisconvenedintoafixedone．The introducing variable，free functionsaresolvedtoobtainthe of functions．Severalnumerical adjoint gradientsobjective showtheeffectivenessofthesubsection methodfor the examples gradient solving control Bang—Bangproblems． for with tothe timesofcontrols Amethod optimizationrespect switching containing both and arcsis is asseveral Bang—Bangsingularpresented．Theproblempartitioned stages， witIleach toa controlarc．Thecontrolfunctionsonthe stagecorrespondingparticular singular