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首页> 外文期刊>Transactions of the Institute of Measurement and Control >Robust optimal control for large-scale systems with state delay
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Robust optimal control for large-scale systems with state delay

机译：具有状态延迟的大型系统的鲁棒最优控制

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摘要

Optimal control of large-scale uncertain dynamic systems with time delays in states is considered in this paper. For this purpose, a two-level strategy is proposed to decompose the large-scale system into several interconnected subsystems at the first level. Then optimal control inputs are obtained by minimization of convex performance indices in presence of uncertainties, in the form of states and interactions feedback. The solution is achieved by bounded data uncertainty problems, where the uncertainties are only needed to be bounded and it is not required to satisfy the so-called 'matching conditions'. At the second level, a simple substitution-type interaction prediction method is used to update the interaction parameters between subsystems. An iterative two-level algorithm is proposed to coordinate their solutions and achieve the optimal solution of the overall large-scale system. Applicability and performance of the proposed algorithm is shown through simulation of a two coupled inverted pendulums.
机译：考虑了具有状态时滞的大型不确定动态系统的最优控制。为此目的，提出了一种两级策略，以将大型系统分解为第一级的多个互连子系统。然后，通过在不确定性存在的情况下以状态和交互反馈的形式最小化凸性能指标来获得最佳控制输入。解决方案是通过有界数据不确定性问题来实现的，其中不确定性仅需要有界，而无需满足所谓的“匹配条件”。在第二级，使用简单的替换类型的交互预测方法来更新子系统之间的交互参数。提出了一种迭代两级算法来协调它们的解并实现整个大型系统的最优解。通过对两个耦合倒立摆的仿真，表明了该算法的适用性和性能。

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