2025年4月11日 22:32 星期五
首页 > 过刊浏览>2024年第56卷第1期 >176-181. DOI:10.16356/j.1005-2615.2024.01.018
PDF HTML阅读 XML下载 导出引用 引用提醒
一种无人机极点区域约束系统输出反馈滤波设计
CSTR:
[cstr]
作者:
作者单位:

1.江苏警官学院刑事科学技术系,南京 210031;2.痕迹检验鉴定技术公安部重点实验室(中国刑事警察学院), 沈阳110854

通讯作者:

孟新宇，男，博士，讲师，E-mail： mengxinyu@jspi.cn。

中图分类号:

TP273

基金项目:

痕迹检验鉴定技术公安部重点实验室（中国刑事警察学院）资助项目（HJKF201906）；江苏警官学院大创项目（2023）。


A Design and Simulation of Robust Filtering Control for Pole Constraints System of Unmanned Aircraft
Author:
Affiliation:

1.Department of Forensic Science， Jiangsu Police Institute， Nanjing 210031， China;2.Key Laboratory of Impression Evidence Examination and Identification Technology(National Police University of China)， Shenyang 110854， China

  • 摘要
    • | |
  • 访问统计
    • |
  • 参考文献 [17]
    • |
  • 相似文献
    • |
  • 引证文献
    • | |
  • 文章评论
    摘要:

    针对参数变化引起的系统不稳定情况，研究其闭环极点处于区域约束下滤波问题，提出了基于输出反馈的滤波系统设计方法。在被控系统及反馈滤波系统同时存在不确定性的情况下，以线性矩阵不等式形式给出输出反馈滤波系统的可解性条件，使其闭环系统渐近稳定，滤波误差输出对干扰的抑制性能指标小于给定上界，并把闭环系统极点配置于复平面上指定区域。运用该方法对某型警用无人飞行器纵向运动进行仿真验证，闭环系统的极点均分布在预期界限，系统趋于稳定，达到了设计目标，表明了该方法的有效性。

    Abstract:

    For the instability of the system caused by parameter changes， this study investigates the filtering problem of closed-loop pole placement under region constraints，and a filtering system design method based on output feedback is proposed. In the presence of uncertainties in both the controlled system and the feedback filtering system， the solvability condition of the output feedback filtering system is given in the form of linear matrix inequalities. This condition ensures asymptotic stability of the closed-loop system， suppression of filtering error output with respect to changes below a given upper bound， and the proper placement of closed-loop system poles in a specified region on the complex plane. This method is used to simulate and verify the longitudinal motion of a certain type of police unmanned aircraft. The distribution of closed-loop system poles is within the expected limits， indicating that the system is asymptotically stable and achieves the design objective. This demonstrates the effectiveness of the proposed method.

    参考文献
    [1] YANG Guanghong, CHE Weiwei. Non-fragile H∞ filter design with additive gain variations[C]∥Proceedings of the 45th IEEE Conference on Decision and Control. San Diego,USA: IEEE,2006: 4775-4780.
    [2] 刘斌,毛钦.基于极点配置的随机时延网络控制器设计[J].计算机工程,2019(5): 66-71.LIU Bin, MAO Qin. Design of a random delay network controller based on pole allocation[J]. Computer Engineering, 2019(5): 66-71.
    [3] ZhANG K, SHI Y. Adaptive model predictive control for a class of constrained linear systems with parametric uncertainties[J]. Automatica, 2020, 117: 108-974.
    [4] LEE L. Decentralized pole placement controller design for networks of linear systems[C]//Proceedings of 2017 IEEE the 56th Annual Conference on Decision and Control. Melbourne, Australia: IEEE, 2017: 463-468.
    [5] HU Y, GOU L, FAN D, et al. An adaptive model predictive control strategy for a class of discrete-time linear systems with parametric uncertainty[J]. International Journal of Adaptive Control and Signal Processing, 2021, 35(12): 2389-2405.
    [6] BELOTTI R, RICHIEDEI D. Pole assignment in vibrating systems with time delay: An approach embedding an a-priori stability condition based on linear matrix inequality[J]. Mechanical Systems and Signal Processing, 2020, 137: 1-13.
    [7] ZHU B, ZHENG Z, XIA X. Constrained adaptive model-predictive control for a class of discrete-time linear systems with parametric uncertainties[J]. IEEE Transactions on Automatic Control, 2019, 65(5): 2223-2229.
    [8] 黄英博,吕永峰, 赵刚,等.非线性主动悬架系统自适应最优控制[J].控制与决策, 2022, 37(12): 3197-3206.HUANG Yingbo, Yongfeng LYU, ZHAO Gang, et al. Adaptive optimal control for nonlinear active suspension systems[J].Control and Decision, 2022, 37(12): 3197-3206.
    [9] TYUKIN I Y, STEUR E, NIJMEIJER H, et al. Adaptive observers and parameter estimation for a class of systems nonlinear in the pa-rameters[J]. Automatica, 2013, 49(8): 2409-2423.
    [10] YAN Ze, LAI Xuzhi, MENG Qingxin, et al. A novel robust control method for motion control of uncertain single-link flexible-joint manipulator[J].IEEE Trans-actions on Systems,Man,and Cybernetics: Systems,2021,51(3): 1671-1678.
    [11] WANG L, WANG H, LIU P, et al. Fuzzy finite-time command filtering output feedback control of nonlinear systems[J].IEEE Transactions on Fuzzy Systems, 2020,30(1): 97-107.
    [12] 王兴平,迟殿委.一类非线性大系统的动态递阶输出反馈镇定[J/OL].控制理论与应用,2023: 1-8[2023-11-22]. https://link.cnki.net/urlid/44.1240.TP.20231122.1116.002.WANG Xingping, CHI Dianwei. Dynamic hierarchical output feedback stabilization of a class of nonlinear large-scale systems[J/OL]. Control Theory and Applications, 2023:1-8[2023-11-22]. https://link.cnki.net/urlid/44.1240.TP.20231122.1116.002.
    [13] KWON S J. Robust Kalman filtering with perturbation estimation process for uncertain systems[J]. IEE Proceedings-Control Theory and Applications, 2006, 153(5): 600-606.
    [14] ZHANG S, WANG Z, DING D, et al. On design of robust fault detection filter in finite-frequency domain with regional pole assignment[J]. IEEE Transactions on Circuits and Systems Ⅱ: Express Briefs, 2015, 62(4): 382-386.
    [15] VALTER J, LEITE S, PEDRO L. An improved LMI condition for robust D-stability of uncertain polytopic systems[J]. IEEE Transaction on Automatic Control, 2003, 48(3): 500-504.
    [16] 杨冬梅,孙义兵.不确定奇异分数阶互联系统非脆弱分散H∞控制[J].东北大学学报(自然科学版),2023,44(2): 153-161.YANG Dongmei, SUN Yibing. Non fragile decentralized H∞ for uncertain singular fractional order interconnected systems control[J]. Journal of Northeastern University(Natural Science Edition), 2023, 44(2): 153-161.
    [17] FRIDMAN E, SHAKED U. New bounded real lemma representations for time-delay systems and their applications[J]. IEEE Transactions on Automatic Control, 2001, 46(12): 1973-1979.
    相似文献
    引证文献
    网友评论
    网友评论
    分享到微博
    发 布
引用本文

孟新宇,吏铭豪,马艺宁.一种无人机极点区域约束系统输出反馈滤波设计[J].南京航空航天大学学报,2024,56(1):176-181

复制
分享
文章指标
  • 点击次数:
  • 下载次数:
  • HTML阅读次数:
  • 引用次数:
历史
  • 收稿日期:2023-11-16
  • 最后修改日期:2024-01-26
  • 在线发布日期: 2024-02-05
文章二维码
您是第6614548位访问者
网站版权 © 南京航空航天大学学报
技术支持：北京勤云科技发展有限公司
请使用 Firefox、Chrome、IE10、IE11、360极速模式、搜狗极速模式、QQ极速模式等浏览器，其他浏览器不建议使用!