| 引用本文: | 叶林奇,宗群,田栢苓,王芳.非最小相位系统跟踪控制综述[J].控制理论与应用,2017,34(2):141~158.[点击复制] |
| YE Lin-qi,ZONG Qun,TIAN Bai-ling,WANG Fang.Tracking control of nonminimum phase systems: an overview[J].Control Theory and Technology,2017,34(2):141~158.[点击复制] |
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| 非最小相位系统跟踪控制综述 |
| Tracking control of nonminimum phase systems: an overview |
| 摘要点击 3391 全文点击 3482 投稿时间：2016-05-16 修订日期：2017-03-10 |
| 查看全文 查看/发表评论 下载PDF阅读器 |
| DOI编号 10.7641/CTA.2017.60321 |
| 2017,34(2):141-158 |
| 中文关键词 控制系统 非最小相位 跟踪控制 零动态 性能限制 |
| 英文关键词 control systems nonminimum phase tracking control zero dynamics performance limitations |
| 基金项目 国家自然科学基金项目(61273092, 61673294, 61503323), 中国博士后科学基金项目(2015M571282), 秦皇岛市科技计划项目(201502A178) |
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| 中文摘要 |
| 非最小相位系统是指包含不稳定零动态的系统. 经典的跟踪控制理论, 特别是非线性系统跟踪控制理论,
是以最小相位系统为基础建立的, 不能直接用于非最小相位系统. 研究非最小相位系统跟踪控制理论, 是对经典控
制理论的扩展和补充, 具有重要的意义. 本文对目前非最小相位系统跟踪控制领域取得的成果进行综述. 首先梳理
各种非最小相位系统跟踪控制方法的基本思想, 并按照近似跟踪和精确跟踪进行归类, 建立非最小相位系统跟踪控
制的基本框架. 然后围绕该框架对各种方法进行详细介绍. 接着讨论非最小相位系统的跟踪性能限制. 最后总结现
有研究存在的一些问题及对今后的发展方向进行展望. 本文的目的在于使控制工作者对非最小相位系统的跟踪控
制有一个较为清晰的认识. |
| 英文摘要 |
| Nonminimum phase systems refer to the systems with unstable zero dynamics. Classical tracking control
theory, especially nonlinear systems tracking control theory, is developed on the hypothesis of minimum phase systems,
which prevents its direct application to nonminimum phase systems. As an extension and implementation of classical
control theory, it is of great significance to investigate the tracking control theory of nonminimum phase systems. This
paper makes an overview on the current achievements in tracking control of nonminimum phase systems. First, the basic
idea of each method for tracking control of nonminimum phase systems is summarized, and a basic framework is presented
by sorting these methods into approximate tracking and exact tracking. Then, the methods are introduced one by one
according to the preceding framework. Next, the tracking performance limitations of nonminimum phase systems are
discussed. Finally, some issues of the current research are summarized and an outlook on future directions is provided. The
purpose of this paper is to help control engineers acquire a comparatively comprehensive understanding in tracking control
of nonminimum phase systems. |
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