带输入饱和的欠驱动吊车非线性信息融合控制

摘要

For the control problem of an under-actuated crane system, a control method based on information fusion technology is presented. By fusing the soft constraints information of the fu-ture reference trajectory and the control energy in the quadratic performance index function, and the hard constraints informa-tion supplied by the crane system state equation and the output equation, the optimal estimations of the co-state sequence and the control variable are obtained. For the saturation problem of control input value, a kind of adaptive adjustment algorithm of the control energy soft constraint information is presented. The control value calculated by this algorithm satisfies the require-ments of limitation. The information fusion control method is easy to be designed based on the discrete model of the controlled system. The simulation results indicate the effectiveness of this method.%针对欠驱动吊车系统的控制问题，提出了一种非线性信息融合控制方法。通过融合二次型性能指标函数中包含的未来参考轨迹和控制能量的软约束信息，以及吊车系统状态方程和输出方程的硬约束信息，获得协状态和控制量的最优估计。针对控制量输入饱和的问题，提出了一种控制能量软约束信息自适应调节算法，使求出的控制量满足限制要求。信息融合控制方法基于被控对象的离散模型设计，具有易于实现的特点。仿真结果表明了该方法的有效性。