دوره 15، شماره 1 - ( مجله کنترل، جلد 15، شماره 1، بهار 1400 )
جلد 15 شماره 1,1400 صفحات 66-51 |
برگشت به فهرست نسخه ها
1- دانشکده مهندسی برق و رباتیک،دانشگاه صنعتی شاهرود،شاهرود،ایران
چکیده: (5843 مشاهده)
در این مقاله یک طراحی کنترل‌کننده مقاوم ∞_H بر پایه رؤیتگر دینامیکی توسعه‌یافته برای سیستم‌های تکین نامعین، در حضور اغتشاش ارائه‌شده است تا سیستم حلقه بسته را مجاز کند. ویژگی مهم این روش در این است که نامعینی می‌تواند در ماتریس سیستم، ماتریس ورودی و ماتریس خروجی وجود داشته باشد و اینکه برای تخمین حالت‌های سیستم از رؤیتگر دینامیکی توسعه‌یافته استفاده‌شده است. این نوع رؤیتگر به دلیل وجود بخش انتگرالی تضمین می‌کند که خطای تخمین به صفر خواهد رسید و همچنین به دلیل وجود بخش دینامیکی، سرعت تخمین بالاتری نسبت به رؤیتگرهای تناسبی- انتگرالی دارد. ابتدا برای سیستم یک رؤیتگر دینامیکی توسعه‌یافته مقاوم طراحی‌شده و شرایط وجود جواب برای آن مورد بررسی قرارگرفته است. همچنین محاسبه بعضی از ضرایب رؤیتگر به‌صورت پارامتری به‌گونه‌ای انجام می‌شود که خطای تخمین به سمت صفر میل کند. سپس با استفاده از فیدبک حالت، کنترل‌کننده تناسبی ∞_H برای مجاز بودن سیستم تکین به آن اعمال می‌شود. شرایط وجود هم‌زمان جواب برای رؤیتگر و کنترل‌کننده با انتخاب تابع لیاپانوف مناسب برآورده می‌شود. نامعادلات موجود توسط مجموعهای از روابط جبرخطی به نامعادلات ماتریسی خطی تبدیل می‌شوند و با حل این نامعادلات ضرایب مربوط به رؤیتگر و کنترل‌کننده به دست می‌آید. در انتها با ارائه یک الگوریتم روش محاسبه به‌صورت منظم بیان خواهد شد و با ذکر یک مثال عددی کارایی آن بررسی می‌شود و نتایج با یک رؤیتگر تناسبی مقایسه خواهد شد.
واژه‌های کلیدی: سیستم‌های تکین نامعین، رؤیت گر دینامیکی توسعه‌یافته مقاوم، کنترل‌کننده بر پایه رؤیت گر، کنترل‌کننده مقاوم ∞_H، نامعادلات ماتریسی خطی.
نوع مطالعه: پژوهشي |
موضوع مقاله:
تخصصي
دریافت: 1398/5/13 | پذیرش: 1399/3/16 | انتشار الکترونیک پیش از انتشار نهایی: 1399/4/7 | انتشار: 1400/3/1
دریافت: 1398/5/13 | پذیرش: 1399/3/16 | انتشار الکترونیک پیش از انتشار نهایی: 1399/4/7 | انتشار: 1400/3/1
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