基于T-S模型的非线性系统主从控制器设计

针对同时具有输出和输入非线性的系统,通过中间虚拟控制量的设置,转化为两个非线性子系统的串联,从而简化系统结构并解决最终控制量不宜直接获取的问题。针对无人水面艇的航迹和横摇控制,设计了基于反演控制的从控制器,实现了输入非线性中虚拟控制量到舵角的映射,通过T-S模型将输出非线性系统,转化为线性时变系统,并考虑舵机的角度与角速度约束,设计了广义预测主控制器。该方法不仅简化了系统结构,同时仿真结果表明,所设计的主从控制器可以获得较好的控制效果。

Design a Master-slave Controller for Nonlinear System Based on T-S Model

To simplify system structure,a middle virtual control value is employed for both output and input nonlinear system,by which the system are separated to two subsystem and to get ultimately control value. A master-slave controller is designed based on the separated subsystem for trace and roll control of unmanned surface vehicle. The backstepping control is applied to map middle control value to rudder angle as slave controller. A T-S model is applied to change the output nonlinear system to linear time-varying system,and then the generalized predictive control with the constraints of rudder angle and angular velocity is introduced for the linear time-varying system as master controller. This approach not only simplifies the system structure,and simulation results show that the design of the master-slave controller can achieve good control effect.