动态抗饱和平滑切换控制器设计方法

摘要

针对一类受饱和约束的切换系统,提出了一种动态抗饱和平滑切换控制器的设计方法.首先,基于模型依赖平均驻留时间的方法设计了平滑切换控制器,能够确保系统全局一致渐进稳定并具有一定的鲁棒性能.同时,通过引入链式切换律降低控制器设计的保守性.在此基础上,给出动态抗饱和补偿器的设计方法.将动态抗饱和补偿器设计问题转化为受线性矩阵不等式组约束的优化问题.以航天器在轨加注过程姿态控制系统为例,建立了该系统的链式平滑切换模型,上述模型能够更加准确地反映系统转动惯量的渐变特性.最后,数值仿真算例表明了所提出的控制器设计方法的有效性.%Considering a class of switching system constrained by saturation limitation, a dynamic anti-windup smooth switching controller design method is proposed.First, based on mode-dependent average dwell-time, a smooth switching controller design approach is proposed to make sure that the system would be global uniform asymptotic stable.Also, conservatism of controller design can be reduced with the chained switching law introduced.Based on the above result, a design method of dynamic anti-windup compensation is presented.Also, the problem of anti-windup compensation design is transformed into the problem of optimization with linear matrix inequalities constraint.Next, taking the attitude control system of spacecraft on-orbit refueling as an example, a chained smooth switching system model is established, which can reflect moments of inertia transition dynamics of spacecraft more precisely.Finally, numeric simulation examples are given to illustrate the effectiveness of the proposed approach.