电子科技大学学报2009，Vol.38Issue(6)：962-966,5.DOI:10.3969/j.issn.1001-0548.2009.06.014
含间隙系统的约束时间最优预测控制
Constrained Time-Optimal Predictive Control for a Class of Systems with Backlash
摘要
Abstract
A constrained time-optimal predictive controller based on the piecewise affine (PWA) model is designed for solving the computation complexity of optimal control problem for mechanical system with backlash. For reducing computation burden of online implementation, the control law is computed offline for the range of states and references tracking speed by dynamic programming. In the experiments of tracking the reference speed, it is demonstrated that the constrained time-optimal predictive controller has better tracking control performance and reduces the computation time about ten times when compared with the constrained finite time optimal controller, therefore, the proposed approach and controller are suitable for real-time tracking control for systems with small sampling time.关键词
间隙模式/约束时间最优预测控制器/混杂系统/PWA模型Key words
backlash mode/constrained time-optimal predictive controller/hybrid system/PWA model分类
信息技术与安全科学引用本文复制引用
窦丽华,董领逊,张娟,冯贺平..含间隙系统的约束时间最优预测控制[J].电子科技大学学报,2009,38(6):962-966,5.基金项目
北京市教育委员会共建基金(XK100070532) （XK100070532）
