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首页> 外文期刊>Journal of control science and engineering >Less Conservative Optimal Robust Control of a 3-DOF Helicopter
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Less Conservative Optimal Robust Control of a 3-DOF Helicopter

机译：三自由度直升机的保守性较低的最优鲁棒控制

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摘要

This work proposes an improved technique for design and optimization of robust controllers norm for uncertain linear systems, with state feedback, including the possibility of time-varying the uncertainty. The synthesis techniques used are based on LMIs (linear matrix inequalities) formulated on the basis of Lyapunov's stability theory, using Finsler's lemma. The design has used the addition of the decay rate restriction, including a parameter y in the LMIs, responsible for decreasing the settling time of the feedback system. Qualitative and quantitative comparisons were made between methods of synthesis and optimization of the robust controllers norm, seeking alternatives with lower cost and better performance that meet the design restrictions. A practical application illustrates the efficiency of the proposed method with a failure purposely inserted in the system.
机译：这项工作提出了一种改进的技术，用于设计和优化不确定线性系统的鲁棒控制器范数，具有状态反馈，包括不确定性随时间变化的可能性。所使用的合成技术基于Lyas（线性矩阵不等式），该LMIs基于Lyapunov稳定性理论，使用Finsler引理。该设计使用了附加的衰减率限制，其中包括LMI中的参数y，这些参数可减少反馈系统的建立时间。在鲁棒控制器规范的综合和优化方法之间进行了定性和定量比较，以寻求成本更低，性能更好，满足设计要求的替代方案。实际应用说明了所提出方法的效率，其中故意将故障插入系统中。

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  • 来源
    《Journal of control science and engineering》 |2015年第2015期|720203.1-720203.10|共10页
  • 作者

    L. F. S. Buzachero; E. Assuncao; M. C. M. Teixeira; E. R. P. da Silva;

  • 作者单位

    Universidade Tecnologica Federal do Parana (UTFPR), 86812-460 Apucarana, PR, Brazil;

    Research Laboratory in Control, Department of Electrical Engineering, Universidade Estadual Paulista (UNESP), Campus of Ilha Solteira, 15385-000 Ilha Solteira, SP, Brazil;

    Research Laboratory in Control, Department of Electrical Engineering, Universidade Estadual Paulista (UNESP), Campus of Ilha Solteira, 15385-000 Ilha Solteira, SP, Brazil;

    Universidade Tecnologica Federal do Parana (UTFPR), 86300-000 Cornelio Procopio, PR, Brazil;

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