切换系统最优控制策略分析及应用-analysis and application of optimal control strategy for switching system.docxVIP

摘要切换系统是一类非常重要的混合系统，它是由若干个连续时间或离散时间子系统及 一个作用在其上的切换规则组成。在过去的近四十年中，切换系统以其广泛的实际应用 背景和重大的理论研究意义而受到人们极大的关注，一直是控制界研究的热点之一。本文研究了基于控制参数化提升技术方法求解切换系统的最优控策略问题，并将其 应用到电动舵机的滑模变结构控制律的设计中,主要研究内容如下：（1）求解切换系统的最优控制问题。首先将控制函数参数化方法应用到切换系统 最优控制求解中，由于切换时间点是待优化的参数，使得基于梯度的算法无法直接应用。 借助控制参数化提升技术，通过引入一个额外的参数，将系统中变化的切换时间转化为 固定的切换时间点从而推导出目标函数关于参数的梯度公式。（2）由于变结构控制响应快速、结构简单，对于参数和外界对系统造成的摄动具 有一定的不变性，所以变结构控制在电动舵机控制中得到成功应用，本文通过将滑模变 结构控制的趋近阶段拆分为三个子阶段，将原系统转化为含有三个子系统的切换系统， 基于求切换系统的最优控制问题设计滑模变结构控制律。关键词切换系统最优控制 控制参数化提升技术 电动舵机 滑模变结构控制AbstractThe switching system is a very important class of hybrid systems, it is by the number of continuous-time or discrete time or continuous and discrete time subsystems and a role in its switching rules. Switching system with its wide range of practical application background and the major theoretical significance in the past nearly four decades, has been of great concern, has been one of the hot spots of the control community.This paper studies the optimal control of switched systems and its applications, the main contents are as followsWe disscused the optimal control problem for switched systems. First control function parameters method is applied to solving optimal control of switched systems, the switching time parameters to be optimized, making the gradient-based algorithm can not be applied directly. By means of the time scale transformation method, by introducing an additional parameter, the switching time of the change in the system can be converted to a fixed switching point in time and thus easy to deduce the gradient of the objective function formula.Due to the variable structure control fast response, simple structure, parameters and external perturbation caused by the system has a certain invariance, variable structure control has been successfully applied in the missile flight control, In this paper, the sliding mode variable structure control approach stage is split into three sub-stages, the original system into a switching system with three subsystems, th