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不确定时变时滞非线性系统多模型切换跟踪控制)

胡承忠1，钱承山1,2，杨兆华1, 王岩青3
  

  1. 1.泰山学院,物理与电子科学系 山东 泰安 271021；

    2.南京航空航天大学 自动化学院，江苏 南京 210016；

    3.解放军理工大学 理学院，江苏 南京 211101

  • 收稿日期:2007-08-30 修回日期:2007-12-17 出版日期:2008-03-31 发布日期:2008-03-31

Tracking Control for a Class of Uncertain Nonlinear Systems with Time-Varying Delay Using Multi-model Switching

HU Cheng-zhong1, QIAN Cheng-shan1, 2, YANG Zhao-hua1, WANG Yan-qing3   

  1. 1.Department of Physics and Electronics, Taishan College, Taian 271021, China;
    2. College ofAutomation Engineering,Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China;
    3. Institute of Sciences, PLA University of Science and Technology, Nanjing 211101, China

  • Received:2007-08-30 Revised:2007-12-17 Online:2008-03-31 Published:2008-03-31

摘要： 考虑了当系统存在不确定情况下，一类非线性时变时滞系统的多模型切换跟踪控制的设计问题。首先利用时滞T-S模糊模型对其进行建模；然后在不确定性满足增益有界的条件下，得到了该类时变时滞非线性系统满足闭环稳定和H∞跟踪控制性能的充分条件；最后根据所选定的变量，通过多模型切换控制，将相应的区域控制器切换为全局控制器，而其他控制器不起作用，实现对整体非线性系统的逼近与控制。仿真结果证明了方法的有效性。

关键词: 非线性不确定系统, 时变时滞, 多模型切换, 跟踪控制

Abstract: This paper studies the design of a tracking control for a class of uncertain nonlinear systems with time-varying delay using multi-model switching in the presence of uncertainty. First, T-S models with time-delay are employed to model the uncertain nonlinear system with time-delay. When uncertainty is gain bounded, a sufficient condition, which satisfies the closed-loop stability and the performance of H∞ tracking, is presented for the existence of the controller. Finally, a region controller, chosen according to the selected variables by the multiple-model switching control, is switched to the whole controller, and other controllers do not operate. Thus the control of the entire nonlinear system is established. Effectiveness of the proposed method is demonstrated with simulation results.

Key words: uncertain nonlinear systems, time-varying delay, multi-model switching, tracking control