ROBUST NEAR TIME-OPTIMAL CONTROL

被引：33

作者：

NEWMAN, WS

机构：

[1] Department of Electrical Engineering and Applied Physics, Center for Automation and Intelligent Systems Research, Case Western Reserve University, Cleveland

来源：

IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 1990年 / 35卷 / 07期

关键词：

D O I：

10.1109/9.57026

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A robust control algorithm is presented for a realization of nearly time-optimal control of double integrator plants. The technique involves the combination of traditional “bang-bang” time-optimal control with the methods of sliding-mode control. The result is a nonlinear feedback scheme for maintaining a desired functional relationship among dynamic variables, in this case imitating the idealized dynamics of time-optimal control. The approach is nearly time optimal rather than exactly time optimal, since the bang-bang control components are restricted to values below full actuator saturation, thus reserving some actuator effort for compensation of disturbances and model imperfections. The algorithm blends smoothly into a linear controller near a stable goal location. © 1990 IEEE

引用

页码：841 / 844

页数：4

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