基于状态依赖切换规则的切换控制器设计方法

A Switching Controller Design Method Based on the State-Dependent Switching Rule

摘要: 在实际工程应用中，物理限制或人为约束的存在使得受控系统在单个控制器的作用下通常无法达到稳定，而具有切换特性的多模态控制器可以更好地提升受控系统的性能。因此，深入研究切换机制在控制器设计中的作用具有重要实际意义。本文基于状态依赖切换规则将受控系统转化为切换系统。通过合理地选择增益系数以增大切换子系统之间的等效刚度差，并结合所选择的增益系数和切换系统的能量比值函数设计了弱保守性的状态依赖切换控制器，解决了受控系统在控制约束下难以被镇定的问题。最后，仿真结果验证了所给出的切换控制方法的有效性。

Abstract: In practical engineering applications, the existence of physical limitations or artificial constraints makes the controlled system usually unable to achieve stability under the action of a single controller, and the multi-mode controller with switching characteristics can better im-prove the performance of the controlled system. Therefore, it is of great practical significance to study the role of switching mechanism in controller design. This paper transforms the controlled system into a switched system based on the state-dependent switching rule, then reasonably selects the gain coefficient to increase the equivalent stiffness difference between the switched subsystems, and combines the selected gain coefficient with the energy ratio function of the switched system, a weakly conservative state-dependent switching controller is designed, which solves the problem that the controlled system is difficult to be stabilized under control constraints. Finally, the simulation results verify the effectiveness of the proposed switching control method.