不确定条件下控制分配问题的鲁棒优化方法

Control of allocation under uncertainty based on robust optimization

中文关键词  控制效率  不确定性  控制分配  鲁棒优化  控制重构

英文关键词  control effectiveness  uncertainty  control allocation  robust optimization  control reconfiguration

中文摘要

      针对具有冗余执行机构的过驱动系统, 在考虑控制效率不确定性的条件下, 提出了一种基于鲁棒优化理论的控制分配算法. 研究了原始不确定鲁棒优化模型的建立和基于椭球不确定集的鲁棒对等式的转化问题, 并推广到可由锥二次不等式表示的不确定集的情况. 讨论了鲁棒优化控制分配算法的求解方法及其计算复杂度. 最后, 针对多操纵面飞机的最优控制分配问题与传统算法进行了仿真比较, 结果表明鲁棒优化算法能有效降低控制效率不确定性的影响, 使分配结果更为合理, 从而具有更好的鲁棒性, 同时能有效提高操纵面故障情况下闭环系统的控制重构能力, 很好地改善了飞控系统的性能.

英文摘要

      A robust optimal control algorithm for allocation is proposed for over-actuated systems with redundant actuators when the control effectiveness is uncertain. Based on the original uncertain robust optimal model, we study the robust transformation from the ellipsoidal uncertain set to equality. This result is extended to the uncertain set represented by a conic quadratic inequality. The solution of robust control of allocation is discussed along with the computation complexity. Simulation of the control by using the proposed algorithm in allocating effectors in an aircraft with multiple effectors is carried out. Comparison of the results with those obtained from traditional algorithms shows that the proposed algorithm effectively reduces the impacts of the uncertainty in control effectiveness, achieves a more reasonable allocation and results in a higher robustness. Meanwhile, it improves the capability of control reconfiguration for the closed-loop control system in the event of actuator failure in the flight control system.