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ID:39402494
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页数:107页
时间:2019-07-02
《基于时滞分解方法的不确定时滞系统的分析和综合》由会员上传分享,免费在线阅读,更多相关内容在行业资料-天天文库。
1、哈尔滨工程大学硕士学位论文基于时滞分解方法的不确定时滞系统的分析和综合姓名:王俊伟申请学位级别:硕士专业:系统理论指导教师:罗跃生20090501哈尔滨工程大学硕士学位论文机器人的潜深控制器的设计转化为受线性矩阵不等式约束的凸优化问题,设计实例验证了所提出了控制策略的可行性。这一部分是时滞分解方法向工程实际问题的尝试性应用,即进一步发展了时滞分解思想,又为工程实际研究人员提供了可以借鉴的设计思想。关键词:时滞分解方法;时滞系统;鲁棒控制和滤波;水下机器人的潜深控制;线性矩阵不等式哈尔滨丁程大学硕士学位
2、论文AbstractTimedelaysanduncertaintiesarefrequentlyencounteredinaerospace,astronauticsandindustrialprocess,whicharethesourceofinstabilityandmaketheproblem(e.g.stabilizationandcontrollerdesign)difficulttosolve.Generally,itisdifficulttocharacterizethedynami
3、csofthecontrolledobjectexactlybyamathematicmodel.Soinvestigationsontherobuststabilityanalysisandsynthesisforuncertainsystemwitlltimedelaysareofgreattheoreticalandpracticalsignificance,whichhavelongdrawnmuchattentionfromresearchersworkinginsystemsandcont
4、rolareas.Delay—decompositionLyapunovstabilityanditsrelatedanalysisandsynthesisproblemareresearchfrontiersinrobustcontroltheory.Basedonpreviousworksofothers,thisthesissystematicallyanddeeplyinvestigatestheproblemsofstabilityandperformanceanalysis,state—f
5、eedbackcontrollersynthesisandfilterdesignforuncertainTakagi—Sugeno(■S)fuzzytime--delaysystemsanduncertainMarkovtime--delaysystemsbasedondelay—-decompositionLyapunovfunctions,andpresentsanalysisandsynthesismethodologiesforuncertainnonlineartime—delaysyst
6、emsintheunifieddelay-decompositionframework.Partofthedevelopedtheoriesisappliedtotherobustdivecontrolforautonomousunderseavehicle(AUV).Firsttherobuststabilityanalysisand-/00performanceanalysisresultsarepresentedintermsoflinearmatrixinequalityforuncertai
7、nT-Sfuzzytime-delaysystems、Ⅳitllnormboundeduncertaintiesbasedondelay-decompositionapproach.BasedonthestabilityandanalysisresultS,thedesignmethodisproposedfortherobuststatefeedbackfuzzycontroller,robust7-1∞fuzzycontroller,robust7-/2fuzzyfiltersandrobust7
8、-/。fuzzyfiltersofuncertainT-Sfuzzytime-delaysystems谢廿lnomlboundeduncertainties,whichconvertstheexistenceconditionofadmissiblecontrollersandfiltersintothefeasibilityofconvexproblemssubjecttolinearmatrixinequality(LMI).Nextthepropo
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