非线性模糊时滞系统的鲁棒控制研究
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摘要
近年来,作为控制领域热点研究问题之一的非线性系统控制理论得到了长足的发展。由于模糊系统理论不需要精确的数学模型并且可以有效的利用专家知识,从而成功地应用于许多控制问题中。另外,模糊控制技术具有控制器设计简单,适用于许多非线性系统且具有鲁棒性强等特点,20世纪80年代以来在控制理论和工程实践方面获得了巨大的发展。众所周知,时滞现象大量存在于各种工程系统中,时滞的存在常常导致系统不稳定或性能恶化。因此,对时滞系统的研究具有重要的理论意义与应用价值。近几十年来已引起人们极大地关注。但是作为更一般的问题,也是更复杂的问题,非线性时滞系统的研究还没有得到应有的重视。鉴于此,本文针对非线性模糊时滞系统,研究了系统的稳定性问题,给出了更加宽松的稳定性条件。
首先针对仅带有状态时滞T-S模糊时滞系统的H_∞控制问题,给出了更简洁更具整体性的系统稳定和H_∞控制存在的条件。该稳定性条件把子系统间的相互作用考虑在一个矩阵中,并以线性矩阵不等式的形式表示,克服了以往在T-S模糊时滞系统与稳定性相关的研究中对于子系统之间的相互作用考虑不多的弊端。同时利用矩阵解耦技术,把两步比较宽松的稳定性条件以严格一步线性矩阵不等式的形式给出,这样做使得稳定性条件中矩阵维数比两步所描述的稳定性条件中矩阵维数减少,也使得稳定性条件的保守性更小,并降低了计算成本。而且详细给出了通过两步所得宽松的稳定性条件和一步所得宽松的稳定性条件是等价的。然后基于新的稳定性准则,给出了基于模糊观测器的H_∞控制器设计方法。最后以仿真例子验证了所提出方法的有效性。
值得指出的是,在现存文献中,时变时滞的界是从零到一个上界值。事实上,时滞的界应该是一个区间即时滞下界不严格为零。在这种情况下,现存文献所得的稳定性准则是具有一定的保守性,因为这些稳定性条件并没有考虑时滞下界的信息。本文针对带非线性扰动的区间变时滞T-S模糊系统,给出了时滞相关的稳定性条件。通过构造全新的Lyapunov泛函,在Lyapunov泛函中增加增广矩阵,使所得的时滞相关稳定性条件更加宽松。而且本文还考虑非线性扰动(假设非线性扰动为非线性时变扰动和线性分式形式的不确定性扰动),这使得所考虑的模型更加一般化。和现存的方法比较,这里表述的方法在结果的推导过程中并未使用自由权矩阵的方法,却可以得到和使用自由权矩阵方法相同的时滞上界,甚至更大的时滞上界。仿真例子表明由该方法所获得的稳定性条件是有效的,且具有更小的保守性。
对于处理时变时滞的线性系统,广义模型变换方法结合Moon不等式是目前比较有效的处理线性时滞系统的方法,本文将该方法推广到T-S模糊时滞系统的研究中。针对同时具有状态时滞和输入时滞这种更一般的T-S模糊系统,通过构造一个全新的Lyapunov-Krasovskii函数,应用积分不等式技术和广义模型变换的方法,获得了全新的时滞相关稳定性准则。然后将这一方法延伸到H_∞控制问题上,并给出新型的时滞相关稳定性判据;在此基础上,给出模糊H_∞控制器存在的充分条件。在这里所使用的方法,克服了以往普通Lyapunov函数在推导过程中由于矩阵不等式放大次数较多所带来的保守性。并给出了锥体线性化算法,得到模糊控制器的设计方案。算例表明,本文所得时滞相关条件较以前的文章所得到的时滞相关条件具有更小的保守性,因此能够获得更大的时滞上界。
随着计算机网络技术的迅速发展,传统的控制系统逐渐被网络控制系统所代替。网络控制系统的稳定性已经越来越受到广大学者的关注,成为一个研究热点。本文针对带时变时延的网络控制系统,利用模糊控制的方法并且考虑在网络系统中的服务质量(QoS),提出了一种基于网络诱导时延和状态时滞的全新的时滞相关稳定性条件,并以LMI的形式给出了时滞相关的模糊无记忆状态反馈控制器的设计方法。由于利用改进的有界不等式,因此使所得的稳定性条件更加宽松。对实际模型的仿真结果表明该方法是有效的,通过和现有结果的对比说明了本文所得到的稳定性条件具有较小的保守性。
As an active research field,the nonlinear systems theory makes a rapid progress recently, which plays an important role in control fields.Fuzzy systems are successfully applied to many control problems because they do not need to accurate mathematical models of the system and can cooperate with human experts' knowledge.Furthermore,the controller design is easier to be realized in fuzzy control techniques and is stronger robust characteristic.Since 80's 20th century,the fuzzy control obtains great development in control theory and engineering.It is well known that time delays are frequently encountered in a variety of dynamic systems,and they are often sources of instability and degradation of control performance in control systems. So the study of dynamic control systems with delays is important in both theory and practice, and has thus been of great interest to a large number of researchers for the last few decades. However,researcheres do not pay attention to nonlinear fuzzy time-delaysystems,which is the more general and more complicated system.Accordingly,based on fuzzy control technique,the purpose of this dissertation is to Study robust control and present the more relaxed stability conditions for nonlinear fuzzy time delay systems.
For ToS fuzzy systems with state delays,H_∞control problem is considered.A proposed stabilization condition is concise and integral,which overcomes such a drawback that the inter-actions among the time-delay fuzzy subsystems are not considered,and collects the interactions in a single matrix in terms of linear matrix ineqUalities(LMIs).Furthermore,in this paper,with a matrix decoupling technology,the Stability conditions by one step presented is less conserva-tive,which makes the matrix dimensions largely reduced comparing with the matrix dimensions of the two step stability conditions.And the proof is given in detail that the relaxed stability conditions by one step is equivalent to the relaxed stability conditions by two step.Then the designs for the H_∞controller based on fuzzy observers are presented and the condition for the existence of the H_∞controller is given.Finally,an example shows the proposed method is effective.
Another point worth mentioning,in the existing papers,the range of time-varying delay considered is from zero to an upper bound.In practice,the range of delay varies in a range for which the lower bound is not restricted to be zero.In this case,the criteria in the previous work are conservative because they do not take into account the information of the lower bound of de-lay.In this paper,some delay-dependent stability criteria are obtained for the T-S fuzzy interval time-varying delay system with nonlinear perturbation.A new Lyapunov-Krasovskii functional is constructed and non-correlated augmented items are used to improve delay-dependent results. Furthermore,nonlinear perturbations assumed both nonlinear time-varying perturbations and time-varying uncertainties in linear fractional form are considered,which makes the fuzzy model general.Compared with the existing results,the methods of this paper is not used free weighting matrices,but also it can lead to the same as the bound of delay with free weighting matrices, even much larger upper of delay.Some numerical examples have shown that the obtained results are less conservative and more flexible.
A combination of descriptor model transformation approach and Moon's integral inequality technique is effective method to deal with the linear time-varying delay systems.In this paper, this methods are extended to research the T-S fuzzy time-varying delay systems.The stability criteria are presented for the T-S fuzzy systems with state delay and input delay.The key features of the approach include a new kind of Lyapunov-Krasovskii functional and a descriptor model transformation with a recent result on bounding of cross products of vectors.Based on this results,H_∞control problem is solved for T-S fuzzy systems with state delays and input delays.The proposed method overcomes the conservation of matrix inequality magnified during the derivation of Lyapunov functional.To obtain the fuzzy controller design,the core complementary linearization algorithm for solving the stabilization problem is given.A series of examples show the proposed delay-dependent stabilization conditions are less conservation than the existing's results,which make the upper bound of delay larger.
It is well known that the traditional isolated control system is going to be replaced by a networked control system(NCS)as the computer network technology is being developed rapidly. And much attention on stability analysis and controller design of NCS is paid.In this paper, a novel control scheme is proposed for the T-S fuzzy system with time-varying delays in a network situation.Utilizing a fuzzy control method and considering the quality of service(QoS) in network systems,the corresponding state feedback control law is obtained.Further,some sufficient conditions and the designs of state feedback controllers are proposed by solving a set of LMIs.A New intrgral inequality approach is used,which makes the results less conservative. The simulations show the proposed method is effective.
首先针对仅带有状态时滞T-S模糊时滞系统的H_∞控制问题,给出了更简洁更具整体性的系统稳定和H_∞控制存在的条件。该稳定性条件把子系统间的相互作用考虑在一个矩阵中,并以线性矩阵不等式的形式表示,克服了以往在T-S模糊时滞系统与稳定性相关的研究中对于子系统之间的相互作用考虑不多的弊端。同时利用矩阵解耦技术,把两步比较宽松的稳定性条件以严格一步线性矩阵不等式的形式给出,这样做使得稳定性条件中矩阵维数比两步所描述的稳定性条件中矩阵维数减少,也使得稳定性条件的保守性更小,并降低了计算成本。而且详细给出了通过两步所得宽松的稳定性条件和一步所得宽松的稳定性条件是等价的。然后基于新的稳定性准则,给出了基于模糊观测器的H_∞控制器设计方法。最后以仿真例子验证了所提出方法的有效性。
值得指出的是,在现存文献中,时变时滞的界是从零到一个上界值。事实上,时滞的界应该是一个区间即时滞下界不严格为零。在这种情况下,现存文献所得的稳定性准则是具有一定的保守性,因为这些稳定性条件并没有考虑时滞下界的信息。本文针对带非线性扰动的区间变时滞T-S模糊系统,给出了时滞相关的稳定性条件。通过构造全新的Lyapunov泛函,在Lyapunov泛函中增加增广矩阵,使所得的时滞相关稳定性条件更加宽松。而且本文还考虑非线性扰动(假设非线性扰动为非线性时变扰动和线性分式形式的不确定性扰动),这使得所考虑的模型更加一般化。和现存的方法比较,这里表述的方法在结果的推导过程中并未使用自由权矩阵的方法,却可以得到和使用自由权矩阵方法相同的时滞上界,甚至更大的时滞上界。仿真例子表明由该方法所获得的稳定性条件是有效的,且具有更小的保守性。
对于处理时变时滞的线性系统,广义模型变换方法结合Moon不等式是目前比较有效的处理线性时滞系统的方法,本文将该方法推广到T-S模糊时滞系统的研究中。针对同时具有状态时滞和输入时滞这种更一般的T-S模糊系统,通过构造一个全新的Lyapunov-Krasovskii函数,应用积分不等式技术和广义模型变换的方法,获得了全新的时滞相关稳定性准则。然后将这一方法延伸到H_∞控制问题上,并给出新型的时滞相关稳定性判据;在此基础上,给出模糊H_∞控制器存在的充分条件。在这里所使用的方法,克服了以往普通Lyapunov函数在推导过程中由于矩阵不等式放大次数较多所带来的保守性。并给出了锥体线性化算法,得到模糊控制器的设计方案。算例表明,本文所得时滞相关条件较以前的文章所得到的时滞相关条件具有更小的保守性,因此能够获得更大的时滞上界。
随着计算机网络技术的迅速发展,传统的控制系统逐渐被网络控制系统所代替。网络控制系统的稳定性已经越来越受到广大学者的关注,成为一个研究热点。本文针对带时变时延的网络控制系统,利用模糊控制的方法并且考虑在网络系统中的服务质量(QoS),提出了一种基于网络诱导时延和状态时滞的全新的时滞相关稳定性条件,并以LMI的形式给出了时滞相关的模糊无记忆状态反馈控制器的设计方法。由于利用改进的有界不等式,因此使所得的稳定性条件更加宽松。对实际模型的仿真结果表明该方法是有效的,通过和现有结果的对比说明了本文所得到的稳定性条件具有较小的保守性。
As an active research field,the nonlinear systems theory makes a rapid progress recently, which plays an important role in control fields.Fuzzy systems are successfully applied to many control problems because they do not need to accurate mathematical models of the system and can cooperate with human experts' knowledge.Furthermore,the controller design is easier to be realized in fuzzy control techniques and is stronger robust characteristic.Since 80's 20th century,the fuzzy control obtains great development in control theory and engineering.It is well known that time delays are frequently encountered in a variety of dynamic systems,and they are often sources of instability and degradation of control performance in control systems. So the study of dynamic control systems with delays is important in both theory and practice, and has thus been of great interest to a large number of researchers for the last few decades. However,researcheres do not pay attention to nonlinear fuzzy time-delaysystems,which is the more general and more complicated system.Accordingly,based on fuzzy control technique,the purpose of this dissertation is to Study robust control and present the more relaxed stability conditions for nonlinear fuzzy time delay systems.
For ToS fuzzy systems with state delays,H_∞control problem is considered.A proposed stabilization condition is concise and integral,which overcomes such a drawback that the inter-actions among the time-delay fuzzy subsystems are not considered,and collects the interactions in a single matrix in terms of linear matrix ineqUalities(LMIs).Furthermore,in this paper,with a matrix decoupling technology,the Stability conditions by one step presented is less conserva-tive,which makes the matrix dimensions largely reduced comparing with the matrix dimensions of the two step stability conditions.And the proof is given in detail that the relaxed stability conditions by one step is equivalent to the relaxed stability conditions by two step.Then the designs for the H_∞controller based on fuzzy observers are presented and the condition for the existence of the H_∞controller is given.Finally,an example shows the proposed method is effective.
Another point worth mentioning,in the existing papers,the range of time-varying delay considered is from zero to an upper bound.In practice,the range of delay varies in a range for which the lower bound is not restricted to be zero.In this case,the criteria in the previous work are conservative because they do not take into account the information of the lower bound of de-lay.In this paper,some delay-dependent stability criteria are obtained for the T-S fuzzy interval time-varying delay system with nonlinear perturbation.A new Lyapunov-Krasovskii functional is constructed and non-correlated augmented items are used to improve delay-dependent results. Furthermore,nonlinear perturbations assumed both nonlinear time-varying perturbations and time-varying uncertainties in linear fractional form are considered,which makes the fuzzy model general.Compared with the existing results,the methods of this paper is not used free weighting matrices,but also it can lead to the same as the bound of delay with free weighting matrices, even much larger upper of delay.Some numerical examples have shown that the obtained results are less conservative and more flexible.
A combination of descriptor model transformation approach and Moon's integral inequality technique is effective method to deal with the linear time-varying delay systems.In this paper, this methods are extended to research the T-S fuzzy time-varying delay systems.The stability criteria are presented for the T-S fuzzy systems with state delay and input delay.The key features of the approach include a new kind of Lyapunov-Krasovskii functional and a descriptor model transformation with a recent result on bounding of cross products of vectors.Based on this results,H_∞control problem is solved for T-S fuzzy systems with state delays and input delays.The proposed method overcomes the conservation of matrix inequality magnified during the derivation of Lyapunov functional.To obtain the fuzzy controller design,the core complementary linearization algorithm for solving the stabilization problem is given.A series of examples show the proposed delay-dependent stabilization conditions are less conservation than the existing's results,which make the upper bound of delay larger.
It is well known that the traditional isolated control system is going to be replaced by a networked control system(NCS)as the computer network technology is being developed rapidly. And much attention on stability analysis and controller design of NCS is paid.In this paper, a novel control scheme is proposed for the T-S fuzzy system with time-varying delays in a network situation.Utilizing a fuzzy control method and considering the quality of service(QoS) in network systems,the corresponding state feedback control law is obtained.Further,some sufficient conditions and the designs of state feedback controllers are proposed by solving a set of LMIs.A New intrgral inequality approach is used,which makes the results less conservative. The simulations show the proposed method is effective.
引文
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