| 引用本文: | 张慎鹏,张登峰,王执铨.线性参变过驱动系统鲁棒控制分配策略[J].控制理论与应用,2017,34(12):1621~1630.[点击复制] |
| ZHANG Shen-peng,ZHANG Deng-feng,WANG Zhi-quan.Robust control allocation strategy for linear parameter-varying over-actuated systems[J].Control Theory and Technology,2017,34(12):1621~1630.[点击复制] |
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| 线性参变过驱动系统鲁棒控制分配策略 |
| Robust control allocation strategy for linear parameter-varying over-actuated systems |
| 摘要点击 3187 全文点击 1403 投稿时间：2017-01-09 修订日期：2017-07-13 |
| 查看全文 查看/发表评论 下载PDF阅读器 |
| DOI编号 10.7641/CTA.2017.70019 |
| 2017,34(12):1621-1630 |
| 中文关键词 过驱动系统 鲁棒控制分配 锥二次优化 线性参变系统 |
| 英文关键词 over-actuated systems robust control allocation second-order cone programming linear parameter-varying systems |
| 基金项目 资助项目：国家自然科学基金(61374133, 61673205, 51275245)，江苏省重点研发计划项目(BE2015125, BY2016004-06)，江苏省科技成果转化项目(BA2016155)，江苏省高校优势学科建设工程项目（PAPD）. |
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| 中文摘要 |
| 针对一类具有不确定时变参量的线性参变(linear parameter-varying, LPV)过驱动系统的控制分配问题, 考
虑系统的不确定参量扰动和执行器物理约束, 利用伪控指令分配误差和控制量误差的1--范数, 建立了含有时变不确
定因子的控制分配优化模型. 根据鲁棒优化思想, 采用矢量变换技术处理时变不确定因子, 得到了一种基于有约束
锥二次凸优化模型的鲁棒控制分配算法, 实现对LPV过驱动系统伪控指令的在线优化分配. 最后, 对某4轮电动汽车
时变二自由度转向过驱动控制系统的对比仿真实验表明, 相比常规4WS和伪逆控制分配方法, 本文的鲁棒控制分配
算法有效地降低了系统参变量不确定扰动的影响, 得到更合理的控制分配解, 有效改善了车辆的操纵稳定性. |
| 英文摘要 |
| The control allocation problem is studied for a class of linear parameter-varying (LPV) over-actuated systems
with uncertain time-varying parameters in this paper. In view of the uncertain parameter perturbations and actuators physical
constraints, a control allocation optimization model with time-varying uncertainties is established based on the 1-norms of
allocation error of pseudo-control command and the control input error. According to the principle of robust optimization,
the robust control allocation algorithm based on constrained second-order cone programming model is developed by using
vector transforms technology to deal with time-varying uncertainties. The online optimal allocation of pseudo-control
command is thus realized for LPV over-actuated systems. Finally, the comparative simulations are executed for the steering
over-actuated control system with time varying 2--DOF of a four-wheel electric-vehicle. The simulative results indicated
that the proposed robust control allocation algorithm can effectively reduce the influence of parametric uncertainties on the
system, compared with the conventional 4WS and pseudo-inverse control allocation methods. The more reasonable control
allocation solution is obtained, and the vehicle handling stability is improved. |
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