虚拟参考反馈校正时变控制的规范设计

摘要

为折衷线性控制器和非线性控制器间的差距，采用虚拟参考反馈校正控制策略研究线性时变控制器的设计问题。对于两控制器中未知时变参数矢量的辨识，在原代价函数的基础上通过增加一项关于两未知时变参数矢量的规范项，来约束时变参数矢量的跳变特性。对于未知时变参数矢量的优化过程，采用可分离非线性最小二乘算法重复迭代以得到全局最优解。借助凸优化理论，推导出一个关键规范值，以此值作为规范值合适选取过程中的初始值。最后用仿真算例验证了辨识方法的有效性。%To compromise the gap between the linear and nonlinear controllers,we made a study on how to design a linear time varying controller using virtual reference feedback tuning strategy .To identify the unknown time varying parameter vectors in the two linear time varying controllers,we added a new regularization term about the two unknown time varying parameter vectors to the formal cost function .So we could constrain the time varying parameter vectors'jump property in virtue of this regularization term .An iterative separable nonlinear least-squares identification method was proposed to estimate the unknown time varying parameter vectors .Through iterating,the global optimum of the time varying parameter vectors could be obtained .By means of the convex optimization theory,we derived a critical value,and take it as the starting point for finding the appropriate regularization coefficient .Finally,the simulation example results verified the validity of the identification method .