输入饱和约束下不确定切换系统的干扰估计与补偿控制研究

As one of the important categories of hybrid systems, switched systems have broad applications in mechanical field, power grid and aerospace and other areas, which are generally subject to input saturation, uncertainties and external disturbances in the process of engineering application. This project focuses on the research of anti-disturbance control for uncertain switched systems subject to input saturation. At present, the results on anti-disturbance control for the above-mentioned system are limited to disturbance attenuation, while the research on disturbance estimation and compensation control of uncertain switched systems subject to input saturation remains preliminary. Therefore, the research of this project has important theoretical significance and application. The main concerns are as follows: constructing observer of the disturbance generated by an uncertain dynamic system, extended state observer and composite anti-disturbance controller, designing mixed state-dependent and time-driven switching law, then studying the criteria of local stabilization for the uncertain switched system subject to input saturation and (matched/unmatched) disturbances; Putting forward the optimization strategy, exploring the gain design conditions of the disturbance observer and comprise anti-disturbance controller, obtaining the less conservative estimation of the domain of attraction of the closed-loop system; the research on the composite hierarchical anti-disturbance control for the uncertain switched system with saturating input and multiple disturbances; The application of anti-disturbance control of the switched systems subject to input saturation in manipulator system. The research tasks of this project will largely broaden theoretical system of the anti-disturbance control for switched systems from the perspective of the disturbance estimation and compensation control, and provide the relevant theoretical guidance for practical applications.

作为一类典型的混杂系统，切换系统广泛应用于机械、电网以及航空航天等领域。在实际应用中，切换系统通常受到输入饱和、不确定以及外部环境干扰的影响。本课题拟研究输入饱和约束下不确定切换系统的抗干扰控制问题。目前，该问题的研究局限于干扰抑制方法，对于干扰估计和补偿控制理论的研究尚处于初级阶段。研究内容包括：输入受限切换系统干扰观测器、扩展状态观测器及复合抗干扰控制器设计；混合切换信号设计及受扰（匹配/非匹配）饱和非线性不确定切换系统局部可镇定条件研究；保证闭环系统较大吸引域估计的干扰观测器及复合控制器增益设计条件的优化问题；多源干扰下饱和非线性不确定切换系统的复合分层抗干扰控制问题；饱和非线性切换系统干扰估计与补偿控制理论在机械臂系统中的应用。本项目将在一定程度上丰富切换系统抗干扰控制理论体系，为实际应用提供相应的理论指导。

本项目旨在针对输入饱和、系统不确定以及外部干扰等因素影响下的切换系统、Markovian 跳变切换系统，提出满足所需控制性能的控制器设计条件。主要研究工作包括：输入饱和约束下切换系统抗干扰控制器设计；输入饱和约束下不确定Markovian 跳变切换系统的抗饱和控制和抗干扰控制；不同干扰影响下奇异Markovian 跳变切换系统控制问题。针对上述研究工作内容，所获得的研究成果主要包括：在建模不确定、模型干扰、范数有界干扰、随机噪声影响下，基于干扰估计补偿控制、鲁棒控制、H∞ 控制和随机控制等技术，提出了几类输入饱和约束下切换系统抗干扰控制策略；针对一类半Markov过程下的不确定切换系统，提出了有效的抗饱和补偿控制策略；基于干扰观测补偿控制、自适应控制和H∞ 控制，给出了多干扰下输入饱和约束下Markovian 跳变切换系统的复合分层抗干扰策略；提出了奇异时滞Markovian 跳变切换系统混合滤波设计和鲁棒非脆弱保性能控制设计条件。本项目所获结果，将为进一步丰富和完善切换系统、Markovian 跳变切换系统的抗干扰控制理论，为相应实际工程系统抗干扰控制提供一定的指导作用。项目所研究成果主要以论文形式呈现，项目资助下共完成学术论文10篇（SCI 8篇，EI 2篇）。另外，在本项目基金的支持下，成功完成了三项专利的申请（2项发明专利，1项实用性专利），其中实用新型专利已获批。